Note: Descriptions are shown in the official language in which they were submitted.
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TITLE
LONG LINE LOITER APPARATUS, SYSTEM, AND METHOD
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of and incorporates by this
reference United
States patent application number 17/330,266, filed May 25, 2021.
FIELD
[0002] This disclosure is directed to improved systems and methods for and
related to an
apparatus, system, and method to perform a long line loiter maneuver with a
carrier, such as a
fixed-wing aircraft, with enhanced control of a load at an end of the long
line.
BACKGROUND
[0003] In the 1950's, Laurence Bradford Saint independently conceived, tested,
and used
a long line loiter maneuver while doing missionary work in Ecuador. In a long
line loiter
maneuver, a fixed wing aircraft orbits or circles a target location. Orbiting
the location was
accomplished by placing a mark on a windshield of the aircraft and flying the
aircraft in a
circle so that the mark stayed on the target location. The aircraft let out a
long line, on the
order of 1000 to 2000 feet or more. Gravitational forces on the long line pull
it downward;
aerodynamic forces on the long line reduce if the long line moves toward the
target
location; therefore, gravitational and aerodynamic forces on the long line
cause it to form
a 3-dimensional long line spiral. If the long line is sufficiently long, the
bottom or center of
the long line spiral becomes centered approximately on or above the target
location. The
aircraft can descend or ascend to lower or raise the bottom of the long line
relative to the
target location. The number of coils in the long line may be dependent on a
velocity of the
aircraft, a bank angle or turn radius of the aircraft, a length of the long
line, a weight of the
long line, a weight of a load on the long line, and aerodynamic forces on the
long line and
load, such as from airspeed of the long line across its length, air pressure,
and a profile of
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the long line. The long line technique has been used to pick up or drop off
equipment (a
"load') at target locations.
[0004] However, the long line loiter maneuver suffers from significant
problems which
have prevented its widespread use. For example, there is variability in
response time
between changes in the aircraft's flight path and velocity and response by the
load; this
variability is reported by the United States Air Force to vary from 30 seconds
to several
minutes. In addition, the load can be subject to a "yo-yo" or bobbing effect,
in which an
elevation of the load changes rapidly and in which the load may hit the ground
or other
objects. In addition, the load may be subject to high acceleration, a
"whiplash" effect, and
or may not follow a desirable trajectory when the aircraft transitions from
circling the
target location to proceeding along a straight course. In addition, a fine
position of the
load relative to the target location may be difficult to achieve. In addition,
aerodynamic
forces on the long line and load include atmospheric conditions such as wind,
which may
be variable and, even when constant, may result in changes in the center of
rotation of the
long line relative to the center of rotation of the aircraft, as the aircraft
circles the target
location. Such problems prevent widespread use of the long line loiter
maneuver.
[0005] As used herein, "carrier" may refer to a fixed wing aircraft, a
helicopter, or
another airborne system which is capable of orbiting or "loitering" above and
around a
location, wherein the location is in an atmosphere.
[0006] Operators of carriers may use equipment that provides control of a
suspended
load, including equipment that provides control of a load remote from the
carrier, e.g. at
or near a load, using powered fans to propel thrust fluid and generate thrust.
Such
equipment is referred to herein as a suspended load control system ("SLCS").
SLCS are
known to be able to control yaw of a load and to horizontally translate a load
to a limited
extent, though SLCS themselves have been difficult to practically implement,
even below
carriers such as helicopters and cranes, let alone below a carrier such as a
fixed-wing
aircraft conducting a long line loiter maneuver. In addition, in the context
of the long line
loiter maneuver, SLCS would add mass to the load, have limited thrust power,
introduce
additional cost and complexity, and have limited deployment time. Use of an
SLCS in a long
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line loiter maneuver has not been successfully demonstrated, notwithstanding
interest in
doing so, interest which may be uninformed by actual design, fabrication, and
use of SLCSs.
[0007] As used herein, "long line" and "suspension cable" are synonyms.
[0008] As discussed herein, when transporting a suspended load by a carrier,
observed
motions of the carrier and suspended load include the following components:
vertical
translation (motion up and down) along the Y axis (referred to herein as
"vertical
translation"); horizontal translation along either or both the X and Z axis;
and rotation or
"yaw" about the Y axis. Vertical translation may also be referred to herein as
"bobbing"
when it occurs cyclically. Roll (rotation about the X axis) and pitch
(rotation about the Z
axis) of the carrier and suspended load may also occur, though if a load is
suspended by a
cable and is not buoyant, the typical motions of the load are vertical
translation, horizontal
translation, and yaw. Vertical and horizontal translation of the load may be
caused by
movement of the long line, an elastic modulus of the long line, movement of
the carrier
communicated to the load by the long line, winding up or down of a winch or
hoist
controlling the long line, thrust output by the load, differences in speed and
momentum
between the load and the carrier, by wind, impacts, external forces, and
linear and non-
linear interaction among the foregoing. Horizontal translation of the load can
manifest as
lateral motion or as conical pendular motion of the load centered on a
location where the
load is secured to the carrier ("pendular motion"); pendular motion generally
also includes
a component of vertical translation and may also be referred to as elliptical
motion. The
carrier and suspended load can also travel in an arc, including an arc which
completes a
circle around a center of a circle, which may also be referred to as
"orbiting" and which
may also be understood as a form of horizontal translation. Orbiting by a
suspended load
may be difficult to distinguish from pendular motion by the suspended load.
The two may
be distinguished based on whether the motion is around or anchored to a
securement
location between the carrier and the load, in which case it is likely to be
pendular motion,
or whether the motion is not around a securement location between the carrier
and the
load, in which case it is likely to be orbiting.
[0009] Linear and non-linear interaction among the many forces acting between
and on
the carrier and a suspended load in a long line loiter maneuver are known to
cause many
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undesirable, unpredictable, and difficult to control motions of either or both
the load and
the carrier, such as yaw, bobbing, high acceleration forces, and imprecise
fine position and
elevation control of the load. These undesirable outcomes may cause delays,
damage to
equipment and objects, failed missions, and may lead to injury or death of
aircrew, a
person connected to a long line, and of people on the ground and prevent
widespread use
of the long line loiter maneuver.
[0010] In addition, some long line loiter maneuvers may involve an obstacle,
such as a
building, bridge, surface, cliff wall, rock, tree, wires, overhang, or other
obstacle that may
interfere with one or more of carrier, load, and/or long line.
[0011] Use of an SLCS, a carrier, a load, and other components in a long line
loiter
maneuver may be improved, made easier, less hazardous, and/or made more likely
with a
method, system, and apparatus to allow an SLCS, hoist, and carrier to increase
control of
the load in the long line loiter maneuver and to predict, identify, and or
respond to
circumstances in which control of the load in the long line maneuver cannot be
maintained
within safety parameters.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 illustrates selective oblique perspective views of a carrier,
a long line, a
suspended load control system ("SLCS"), and a load performing a long line
maneuver, in
accordance with an embodiment.
[0013] Figure 2 illustrates an oblique perspective detail of a carrier, a
hoist, and a sensor
suite in a carrier suitable to perform a long line maneuver, in accordance
with an
embodiment.
[0014] Figure 3 illustrates an oblique perspective detail of an SLCS and load
secured to a
long line in a long line maneuver, in accordance with an embodiment.
[0015] Figure 4 illustrates a first oblique perspective view of a carrier, a
long line, a path
of the carrier, a center of orbit, and a location of a load and SLCS, in
accordance with an
embodiment.
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[0016] Figure 5 illustrates a top parallel projection view of the carrier,
long line, the path
of the carrier, and the location of the load and SLCS of Figure 4, in
accordance with an
embodiment.
[0017] Figure 6 illustrates a second oblique perspective view of a carrier, a
long line, a
path of the carrier, and a location of a load and SLCS, in accordance with an
embodiment.
[0018] Figure 7 illustrates a top parallel projection view of the carrier,
long line, the path
of the carrier, and the location of the load and SLCS of Figure 6, in
accordance with an
embodiment.
[0019] Figure 8 schematically illustrates operational components of a long
line loiter control
system including remote interface logical components and hoist logical
components, in
accordance with an embodiment.
[0020] Figure 9 illustrates an operational module of a long line loiter system
including
multiple modes or command states in accordance with an embodiment.
[0021] Figure 10 illustrates long line loiter data fusion and control module
of a long line loiter
control system in accordance with an embodiment.
[0022] Figure 11 illustrates hoist for long line loiter operational module, in
accordance with an
embodiment.
[0023] Figure 12A illustrates a first oblique parallel projection view of a
remote interface for
long line loiter system, in accordance with an embodiment.
[0024] Figure 128 illustrates a second oblique parallel projection view of the
remote interface
for long line loiter system, in accordance with an embodiment.
[0025] Figure 134 illustrates back parallel projection view a remote interface
of an SLCS, in
accordance with an embodiment.
[0026] Figure 138 illustrates an oblique parallel projection view of the
remote interface of the
SLCS of Figure 138, in accordance with an embodiment.
[0027] Figure 13C illustrates a front parallel projection view of the remote
interface of an SLCS
of Figure 13B, in accordance with an embodiment.
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[0028] Figure 14 illustrates a third oblique perspective view of a carrier, a
long line, a path of
the carrier, and a location of a load and SLCS, in accordance with an
embodiment.
[0029] Figure 15 illustrates a top parallel projection view of the carrier,
long line, the path of
the carrier, and the location of the load and SLCS of Figure 14, in accordance
with an
embodiment.
DETAILED DESCRIPTION
[0030] In overview, a long line loiter control system disclosed herein
comprises physical
components such as a carrier, a carrier hoist, a long line or suspension cable
("long line" or
"suspension cable" may be used interchangeably), a suspended load control
system ("SLCS"),
and operational components discussed further herein. In overview, the long
line loiter control
system further comprises logical components such as a long line loiter
operational module (also
referred to as an "operational module"), a long line loiter data fusion and
control module, and a
hoist for long line loiter operational module.
[0031] In overview, the long line loiter control system physical and logical
components
address control of a long line loiter maneuver conducted beneath a carrier,
such as a fixed-wing
aircraft. In overview, control of the long line loiter maneuver comprises
identifying, predicting,
and reacting to estimated states and predicted states of components of the
long line loiter
control system, such as according to a system model. The system model may
comprise, for
example, a center or orbit of the carrier, a center or orbit of the suspended
load control system,
a target location, a mass of the suspended load control system and load, a
length of the long
line, an inertia of suspended load control system and load, a movement and
rotation of the
suspended load control system, a height above ground of the suspended load
control system, a
movement and rotation of the carrier, a height above ground of the carrier, an
aerodynamic
model of the long line, a gravitational force on the long line, and
disturbance estimations of
wind force, sea state, and relative motion between the suspended load control
system and
carrier, wherein the movement and rotation of the carrier comprises at least
one of a bank
angle and a velocity or a center of orbit.
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[0032] Certain of the information processed in the system model may be
described as "state
information" and certain of it may be described as "parameter information" or
as
"parameters". For example, parameters may comprise elements which may be
actively varied
by the long line loiter system, such as a length of long line, thrust and
flight control settings of
the carrier, thrust output of EDF of the SLCS, and the like. For example,
"state information" may
comprise elements which may not be actively varied by the long line loiter
system and or which
may respond to changes in parameters, such as, for example, a mass of SLCS and
load, a
moment of inertia of an SLCS and load, position and motion of the SLCS and
load, position and
motion of the carrier, as well as disturbances, such wind force, and sea
state. Significantly,
parameter information, state information, and disturbance forces are not "hard-
wired" into the
long line loiter system as fixed values but are dynamically determined by
logical components
thereof.
[0033] In overview, reacting to estimated states and predicted states of
components of the
long line loiter control system may comprise controlling thrusters (also
referred to as one or
more fan arrays) of the SLCS, controlling a hoist of the carrier, or
controlling or issuing flight
control instructions to the carrier to drive the SLCS toward or relative to a
target,
notwithstanding that the SLCS may be undergo motion or be subject to forces
tending to move
the SLCS away from the target. As discussed herein, motion of the SLCS may
comprise pendular
motion, yaw (rotation about a central axis of the SLCS), or horizontal or
vertical translation; as
discussed herein, the SLCS and load may be subject to linear and non-linear
interaction
between the load, the long line, and the carrier, and or external perturbation
forces, including
wind. In addition to controlling the hoist of the carrier and or controlling
the carrier or issuing
flight control instructions to the carrier, the SLCS may control itself and
the load by dynamically
exerting force from, for example, thrusters, fans, or propellers (for example,
high output
electric ducted fans) of the SLCS. Thrusters, fans, propellers and electric
ducted fans ("EDFs")
may be referred to herein as "thrusters" or "EDFs". Other sources of thrust
may be used, such
as jets, compressed air, hydrogen peroxide thrusters, rockets, and the like.
[0034] In overview, identifying, predicting, and reacting to estimated states
and predicted
states of components of the long line loiter control system comprises
determining
characteristics of state conditions over time as well as response time between
state conditions
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of the carrier, of the hoist, and of the SLCS. In overview, estimation or
prediction of response
time between state conditions of the carrier, of the hoist, and of the SLCS
may comprise
determining that an estimated or predicted response time between state
conditions of the
carrier, of the hoist, and of the SLCS is not within a margin, such as a
safety margin. When
response time moves beyond a safety margin, components of the long line loiter
control system
may be in or may be in danger of unsafe conditions, such as a bobbing or a "yo-
yo" effect, in
which the SLCS and load at the end of the long line may cyclically change
elevation in a
dangerous and or uncontrolled manner. In overview, identifying, predicting,
and reacting to
estimated states and predicted states of components of the long line loiter
control system
comprises determining occurrence of or predicting a hazardous state. In
overview, the
hazardous state may comprise impact with ground or other object and or
excessive
acceleration. Excessive acceleration may occur due to bobbing or due to a
"whip-lash" effect;
e.g. a whip-lash effect as may occur when the carrier transitions from
orbiting a target location
to moving toward a destination.
[0035] In overview, the long line loiter control system may respond to
estimated or predicted
response time not within the margin and or to a hazardous state by, for
example, controlling a
hoist of the carrier, controlling thrusters of the SLCS, and or controlling or
issuing flight control
instructions to the carrier so as not to increase the response time and or to
avoid the hazard. In
overview, not increase the response time may comprise holding or reducing a
distance
between the carrier and the SLCS, such as by holding steady or reducing a
length of long line
paid out from the hoist. In overview, not increase the response time may
comprise holding or
increasing an altitude of the carrier. In overview, not increase the response
time may comprise
increasing a velocity of the carrier. In overview, to avoid the hazard may
comprise controlling
thrusters of the SLCS to maneuver to avoid the hazard, and or may comprise
controlling the
hoist to decrease a length of long line or to increase the length of long line
to lessen high
acceleration, and or may comprise controlling or issuing flight control
instructions to the carrier
to change a center of orbit of the carrier, to change a bank angle, altitude,
or velocity of the
carrier.
[0036] In overview, an SLCS, a carrier, and a hoist of the carrier in the long
line loiter system
may have sensor suites; the sensor suites may obtain data, wherein the data
may be processed
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by logical components of the long line loiter system according to the system
model. In the
carrier and in the SLCS, the sensor suites may comprise, for example, position
sensors,
orientation sensors, inertial sensors, proximity sensors, reference location
sensors, suspension
cable sensors, and thrust sensors. Such sensors may comprise cameras,
accelerometers,
gyroscopes, magnetometer, inclinometer, directional encoder, radio frequency
relative bearing
system, gravitational sensors, microelectromechanical systems ("MEMS")
sensors, Global
Positioning System ("GPS") sensors, lidar/radar sensors, machine vision
sensors, range finders,
ultrasonic proximity sensors, a hoist sensor, and the like.
[0037] In overview, sensor information from the sensor suites may be processed
by the long
line loiter control system logical components to identify, predict, and react
to estimated states
and predicted states of components of the long line loiter control system,
such as according to
a system model, to control the long line maneuver, as discussed herein.
[0038] In overview, physical and logical components of the long line loiter
control system may
thereby provide enhanced control of a long line loiter maneuver by
identifying, predicting, and
reacting to estimated states and predicted states of components of the long
line loiter control
system to drive an end of the long line toward or relative to a target or
relative to the carrier, to
avoid estimated or predicted states which comprise a dangerous condition, such
as a response
time between state conditions of the carrier, of the hoist, and of the SLCS
which are not within
a safety margin, or such as a hazardous state, such as impact with an object
or an excessive
acceleration. Furthermore, the disclosed long line loiter control system may
provide telemetry
data or information to a carrier, a hoist of the carrier, or to another
process.
[0039] As discussed herein, "control of a load" or "control of an SLCS" or
"control of an end of
the long line" should be understood to refer to control of an SLCS and,
thereby, as control of a
load which may also be secured to the SLCS.
[0040] A long line loiter control system can provide benefits to, for example,
fixed-wing long
line loiter lift and delivery operations as well as to in-flight craft-to-
craft contact operations,
such as refueling operations.
[0041] Reference is now made in detail to the description of the embodiments
illustrated in
the drawings. While embodiments are described in connection with the drawings
and related
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descriptions, there is no intent to limit the scope to the embodiments
disclosed herein. On the
contrary, the intent is to cover all alternatives, modifications and
equivalents. In alternate
embodiments, additional devices, or combinations of illustrated devices, may
be added to, or
combined, without limiting the scope to the embodiments disclosed herein. For
example, the
embodiments set forth below are primarily described in the context of a fixed-
wing lift
operation. However, these embodiments are illustrative examples and in no way
limit the
disclosed technology to any particular application or platform.
[0042] 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 dictates otherwise. As used in this specification and the appended
claims, the
singular forms "a," "an," and "the" include plural referents unless the
content clearly dictates
otherwise. It should also be noted that the term "or" is generally synonymous
with "and/or" or
"and or" unless the content clearly dictates otherwise.
[0043] Figure 1 illustrates selective oblique perspective views of carrier
105, long line 110,
suspended load control system ("SLCS") 130, and load 120, performing a long
line maneuver, in
accordance with an embodiment.
[0044] Carrier 105 may be, for example, a fixed-wing aircraft, a helicopter, a
drone, or the
like. Carrier 105 is capable of and is circling around or orbiting a target
location. Carrier 105 may
comprise hoist 201, sensor suite 220 (discussed further in relation to Figure
2), communication,
power, and or control modules or systems, such as to communicate with and or
provide power
to hoist 201 and or SLCS 130.
[0045] Long line 110 may extend from hoist 201 of carrier 105, subject to
gravitational and
aerodynamic forces, forming a 3-dimensional spiral, descending to SLCS 130 and
load 120.
Faring 115 may smooth airflow over SLCS 130, such as when SLCS 130 may be
released from
and or brought back into carrier 105 and when carrier 105 is traveling above
stall speed. Faring
115 may comprise flight control surfaces (not illustrated) to control or
stabilize passage of SLCS
130 through the air. SLCS 130 may be released from and or brought back into
carrier 105 as
carrier 105 flies through the air at a speed above its stall speed, such as,
for example, 115 mph
(this is only an example, stall speed will depend on the type of aircraft) and
may be subject to
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non-laminar airflow. Long line 110 may be coiled around or into hoist 201.
SLCS 130 may be
secured to long line 110 and released from carrier 105. Load 120 may be
secured to SLCS 130
and may be released from and or brought back into carrier 105 or load 120 may
be secured to
SLCS 130 at and picked up from a target location, during a long line loiter
maneuver, and may
be reeled up to carrier 105, delivered to another location on the ground, or
released in the air,
such as with a parachute.
[0046] Physical components and logical components of the long line loiter
control system,
discussed further herein, including sensor suite 220, sensor suite 320 of SLCS
130, and hoist
sensor 205, operational module 900, long line loiter data fusion and control
module 1000, and
hoist for long line loiter operational module 1100, one or more of which may
be active or
activated prior to or after SLCS 130 is released from carrier 105. Axis 125
and axis 126 indicate
that the physical components and logical components are continuously
estimating and
predicting the state of SLCS 130, including its orientation, position,
absolute and relative
location (generally, relative to carrier 105, including distance below carrier
105 and distance
above ground, indicated by axis 125), as well as the state of carrier 105
including its orientation,
position, absolute and relative location (generally, relative to SLCS 130,
including distance
above SLCS 130 and distance above ground, indicated by axis 126).
[0047] SLCS 130 may comprise, for example, an SLCS, a sensor suite, or other
equipment
which may comprise electrical components, including computer processors,
computer memory,
signal processing, batteries, logical components, and actuators. Examples of
such equipment
are discussed herein in relation to suspended load control logical components
801.
[0048] SLCS 130 comprises electrical components, including computer
processors, computer
memory, signal processing, logical components, power supply and or batteries,
electronic
speed controllers, microcontrollers, sensors, actuators, and the like. The
power supply within
SLCS 130 may be a single power brick or an array of battery cells wired in
series and/or in
parallel, such as lithium-polymer (LiPo) cells. The batteries may be removable
for inspection
and/or to swap discharged and charged batteries. Batteries may be charged
while installed (i.e.,
without having to remove them) via nodes or a wireless charging system.
Batteries may include
auxiliary battery(ies) to supply a steady supply of power to the processor
even if thrusters in fan
units draw a relatively large amount of power from main batteries. In
embodiments, a carrier
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from which SLCS 130 is suspended can provide power through a line extending
down the long
line to SLCS 130. In embodiments, the carrier can provide some power to SLCS
130, while SLCS
130 may obtain other power from an on-board power supply. In various
embodiments, SLCS
130 may be powered by a combination of on-board and remote power. In many
environments,
all power for SLCS 130 is contained on board SLCS 130, allowing fully
autonomous operation
without dependence on the availability of external power sources or delivery
means.
[0049] In computer memory or in logic embodied in circuits within SLCS 130 may
be modules
such as operational module 900 and or long line loiter data fusion and control
module 1000.
Operational module 900 and or long line loiter data fusion and control module
1000 may
provide services to and obtain services from carrier 105, hoist 201, load 120,
or another object
or party, as discussed herein.
[0050] SLCS 130 may provide services to carrier 105, to hoist 201, to load
120, or to another
object or party. Services provided by SLCS 130 may include, for example, data
acquisition, such
as data acquisition for telemetry or situational awareness, as well as load
control, such as load
control services for load 120, communications, and the like. SLCS 130 may
require or benefit
from services from carrier 105, from hoist 201, from load 120, or from another
object or party.
Services to SLCS 130 may include, for example, data or information,
communication, electrical
power, physical translation, and docking and deployment to and from the
carrier.
[0051] Load 120 may comprise an animate or inanimate object, such as a person,
equipment,
a sling transporting or to transport an object, a litter, a container for
water or another liquid or
gas, or the like. Load 120 may be secured to long line 110 or to a cable or
securement
mechanism of SLCS 130, such as a hook. A weight or mass of load 120 may change
during an
operation, such as when part of a load is picked up, put down, or released.
[0052] As discussed herein, physical components and logical components of the
long line
loiter control system may provide enhanced control of a long line loiter
maneuver by
identifying, predicting, and reacting to estimated states and predicted states
of components of
the long line loiter control system, such as to drive an end of the long line
toward or relative to
a target or relative to the carrier, to avoid estimated or predicted states
which comprise a
dangerous condition. As discussed herein estimated or predicted states which
comprise a
dangerous condition may comprise a response time between state conditions of
the carrier, of
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the hoist, and of the SLCS which are not within a safety margin, or may
comprise a hazardous
state, such as impact with an object or an excessive acceleration.
Furthermore, the disclosed
long line loiter control system may provide telemetry data or information to a
carrier, a hoist of
the carrier, or to another process or party.
[0053] For example, as SLCS 130 is released from carrier 105, logical
components such as
operational module 900, may determine that a response time between state
conditions of the
carrier, of the hoist, and of the SLCS are not within a safety margin and may
control or direct
control of hoist 201 to pause, slow release of, or to reel in long line 110
until the response time
returns to within the safety margin.
[0054] For example, as SLCS 130 is released from carrier 105 and as a long
line loiter
maneuver is performed to pick up or drop off load 120, logical components such
as operational
module 900, may activate thrusters of SLCS 130 to drive SLCS 130 and load 120
toward a target
location, to reduce or eliminate yaw or pendular motion of SLCS 130 and or
load 120, or to
assist in prevention of SLCS 130 and or load 120 from hitting an obstacle.
[0055] For example, as a long line loiter maneuver is performed and after load
120 is picked-
up, logical components such as operational module 900, may activate hoist 201
to pay out long
line 110 as carrier 105 transitions from orbiting to straight flight, so as to
avoid an unacceptable
acceleration of SLCS 130 and or load 120, such as to avoid a whip-lash effect.
[0056] Figure 2 illustrates an oblique perspective detail of carrier, hoist
201, carrier
sensor suite 220, and long line 110, suitable to perform a long line maneuver,
in
accordance with an embodiment.
[0057] Sensor suite 220 is illustrated as comprising sensors 215, which may
comprise, for
example, position sensors, orientation sensors, inertial sensors, proximity
sensors, and
reference location sensors. Such sensors may comprise cameras, accelerometers,
gyroscopes,
magnetometer, inclinometer, directional encoder, radio frequency relative
bearing system,
gravitational sensors, microelectronnechanica I systems (MEMS) sensors, Global
Positioning
System (GPS), lidar/radar, machine vision, range finders, and ultrasonic
proximity sensors, and
the like. When such sensors detect electromagnetic radiation, e.g. lidar,
radar, cameras, such
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sensors may be positioned to have a view which includes an area in which the
SLCS 130, long
line 110, and load are expected to be found, such as below and behind carrier
105.
[0058] Hoist 201 may comprise hoist sensor 205 and reel 210. Reel 210 may
comprise a
reel or winch, an electrical, hydraulic, or other motor to turn the reel or
winch, a brake to stop
rotation of the winch, a winding guide, to guide cable as it winds onto or off
of the winch, and
hoist sensor 205. A suspension cable, such as long line 110, may be coiled
around the winch.
Hoist sensor 205 may comprise a cable length encoder, a reel torque encoder,
and the like. A
cable length encoder may encode or record a length of cable which is unwound
from the reel,
such as through use of physical, optical, or Hall sensors or the like which
measure rotation of
the reel and or a roller of the cable guide. A reel torque encoder may encode
or record forces
on the reel or winch, such as torque, whether under static conditions (e.g.
when the winch is
not rotating) or dynamic conditions (e.g. when the winch is rotating). Reel
torque encoder may
comprise, for example, a strain gauge, a scale, a mass or weight measuring
device,
measurement of electrical or other power applied to turn or hold the winch, or
the like. Reel
torque encoder and or hoist for long line loiter operational module 1100 may
estimate or
determine a mass of a load on long line 110 based on the torque and or based
on static or
dynamic conditions.
[0059] As discussed in relation to Figure 1, axis 125 and axis 126 indicate
that sensor suite
220, sensor suite 320, and or hoist sensor 205 are obtaining sensor data,
providing it to logical
components, wherein the logical components are continuously estimating and
predicting the
state of carrier 105 and SLCS 130 including such components' orientation,
position, absolute
and relative location (generally, relative to one another, including distance
apart, distance
above ground, center of orbit, and motion relative to a center of orbit) and
the state of long
line 110.
[0060] Hoist 201 may comprise electrical components, including computer
processors,
computer memory, signal processing, logical components, and actuators,
including reel 210 and
other actuators. Such components are also discussed herein in relation to
carrier and hoist
logical components 880.
[0061] In computer memory or in logic embodied in circuits within hoist 201
may be hoist for
long line loiter operational module 1100. Hoist for long line loiter
operational module 1100 may
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comprise logic to operate hoist 201 and to interact with other modules
discussed herein. Hoist
for long line loiter operational module 1100 may obtain data or information,
such as from hoist
sensor 205, e.g. cable length encoder and or reel torque encoder, and may
provide this data or
information to other components, such as SLCS 130 and or carrier 105 and
modules thereof.
Hoist for long line loiter operational module 1100 may receive data,
information, or instructions
from, for example, operational module 900 and or long line loiter data fusion
and control
module 1000 and or carrier 105 (including from crew in carrier 105 or flight
or aircraft controls).
Hoist for long line loiter operational module 1100 may implement instructions,
such as to wind
in or unwind (to reel in or pay out) long line 110 and or to communicate with
SLCS 130. An
example of logic of hoist for long line loiter operational module 1100 is
illustrated and discussed
in relation to Figure 11.
[0062] Hoist 201 may comprise a housing which may act as or comprise
components for hoist
201, such as to isolate components within hoist 201 from the environment.
Hoist 201 may be
secured to a carrier, whether in an interior space of carrier, on an external
structure of carrier,
or the like, by securement hardware, by a boom, by an arm, or the like,
coupled directly or
indirectly to a carrier.
[0063] Figure 3 illustrates an oblique perspective detail of SLCS 130 and load
120 secured
to long line 110 in a long line maneuver, in accordance with an embodiment.
[0064] SLCS 130 is illustrated as comprising, for example, fan unit 325A and
fan unit 325B. Fan
unit 325A and fan unit 325B may separately comprise one or more thrusters,
such as EDFs. EDFs
may also be referred to herein as "actuators".
[0065] Fan units 325 may comprise a cowl which protects one or more EDF. The
cowl may be
hardened, to withstand impact with the environment. The cowl unit may be made
of metal,
plastics, composite materials, including fiber reinforced resin, and the like.
Fan units may
include an air intake, though which air may be drawn, and an outlet. An air
intake may
comprise one or more screens or filters to prevent entry of some objects into
EDF. The EDF in a
fan unit may comprise blades and motor(s), such as electric motor(s). The
electric motors
within an EDF may be sealed against dust, sand, water, and debris. In addition
to or in
replacement of EDF, alternative sources of thrust may be used, such as, for
example,
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compressed air, hydrogen peroxide jets or thrusters, liquid or solid rocket
engines, fans driven
by combustion engines, such as jet engines, and the like.
[0066] For the sake of convenience in discussing them, fan units on a first
side of an SLCS may
be discussed as a first fan unit group while fan units on a second side may be
discussed as a
second fan unit group. The fan units in each fan unit group propel thrust
fluid (such as air) in
fixed directions, such as fixed directions opposite each other; e.g. offset by
180 degrees. In
other embodiments, a fewer or greater number of fan units and/or EDF may be
used in an SLCS.
In other embodiments, the fan units and/or EDF may be aligned other than
offset by 180
degrees, e.g., offset by greater or fewer than 180 degrees, with or without
offset along other of
the axis. A mechanical steering component may be included to dynamically
reposition a fan unit
and/or EDF within a fan unit. Fans, thrusters, or EDF may be vertically
oriented, rather than
horizontally oriented, as illustrated in Figure 3.
[0067] EDF in individual of the fan units may be activated separately, with
different power, to
produce thrust vectoring or thrust vector control of an assembly of fan units.
For example, to
produce clockwise yaw (relative to looking down on a top of SLCS 130 in Figure
3), an EDF in the
first fan unit group, may be activated by itself or in conjunction with an
opposing EDF in the
second fan unit group. To produce lateral translation of SLCS 130 or to
produce lateral force
opposing pendular motion, EDF in both fan unit groups with a same orientation
may be
activated. Simultaneous lateral force and rotational force may be produced.
Vectored thrust
may thereby be generated by a SLCS 130 and operational module 900, thereof.
[0068] Also illustrated in Figure 3 is rotary bearing 305. Rotary bearing 305
may be a rotatory
bearing or coupling between long line 110 and may allow the load, SLCS 130,
bumper and hook,
and load 120 to rotate separately from long line 110. For example, due to
rotary bearing 305,
the SLCS may be able to control a load, though the load may be subject to
rotation or may be
rotated by the SLCS, without transfer of a rotational force to long line 110.
[0069] SLCS 130 may comprise logical components, such as computer processors,
memory,
and modules in memory. In computer memory or in logic embodied in circuits
within SLCS 130
may be operational module 900 and or long line loiter data fusion and control
module 1000.
Examples of operational module 900 are illustrated and discussed in relation
to Figure 9.
Examples of long line loiter data fusion and control module 1000 are
illustrated and discussed
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in relation to Figure 10. In the examples discussed herein, operational module
900 may
estimate and predict the state of SLCS 130, of carrier 105, and of long line
110 and to respond
thereto, such as with instructions to thrusters of SLCS 130, to hoist 210, and
or to carrier 105 or
a flight crew thereof, to improve performance of a long line loiter maneuver.
[0070] Figure 4 illustrates a first oblique perspective view 400 of carrier
105, long line
410, current and predicted path of carrier 435, around center of orbit 440,
and SLCS 445,
with optional load, in accordance with an embodiment. Center of orbit 440 may
not be a
point, but may include an uncertainty, for example, an uncertainty caused by a
size of
carrier 105, atmospheric conditions, uncertainty in measurement of the
position,
orientation, and motion of carrier 105 along current and predicted path of
carrier 435, and
the like. Within center of orbit 440, SLCS 445 may be influenced by thrusters
of SLCS 445,
by hoist 201, and by current and predicted path of carrier 435, such as toward
a target
location, as influenced by physical and logical components of the long line
loiter system
discussed herein, such as sensor suite 220, sensor suite 320, hoist sensor
205, in
conjunction with operational module 900 and or long line loiter data fusion
and control
module 1000. As discussed herein, such physical and logical components of the
long line loiter
system discussed herein may improve performance of and or may make safer
performance of a
long line loiter maneuver, such as according to a response time among
characteristics of the
state of SLCS 445, carrier 105, and long line 410.
[0071] Figure 5 illustrates a top parallel projection view 500 of carrier 105,
long line 410,
current and predicted path of carrier 435, center of orbit 440, SLCS 445, and
radius of orbit
505 of Figure 4, in accordance with an embodiment. Radius of orbit 505
illustrates that
radius of orbit 505, as well as a distance between the carrier and the SLCS, a
length of long
line paid out from hoist, and a height above ground for the SLCS can be
determined and or
obtained with respect to one or more of carrier 105, SLCS 445, and long line,
such as with
sensor suite 220 and or sensor suite 320 and or hoist sensor 205. This
information can be
used in the system model to determine a number of coils and or the shape of
long line 410.
The shape of long line 410 may be related to a response time among
characteristics of the
state of the SLCS, the carrier, and the long line, which may be used to
influence the
position, motion, and orientation of an SLCS and load relative to an
objective. For example,
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operational module 900 may determine that the response time is unsafe and that
steps
should be taken to avoid minimize perturbation of the states; this may be due,
for
example, due to a relatively large number of coils in long 410, which may
result in
increased response time and potential for a bobbing or "yo-yo" effect. So long
as a
response time warning and or a danger condition are not present, SLCS 445 may
be driven
within center of orbit 440, such as to achieve fine control of the position,
motion, and
orientation of SLCS 445.
[0072] Figure 6 illustrates a second oblique perspective view 600 of carrier
105, long line
610, path of the carrier 635, and location of SLCS 645(and optionally load),
in accordance
with an embodiment. Location of SLCS 645 may be within a center of orbit (not
labeled) of
carrier 635. Figure 7 illustrates a top parallel projection view 700 of
carrier 105, long line
610, path of the carrier 635, location of SLCS 645 of Figure 6, and radius of
orbit 705
between carrier 105 and center of orbit or location of SLCS 645 in accordance
with an
embodiment.
[0073] As discussed herein, such physical and logical components of the long
line loiter
system discussed herein may improve performance of and or may make safer
performance of a
long line loiter maneuver, such as according to a response time among
characteristics of the
state of SLCS 645, carrier 105, and long line 610. Radius of orbit 705
illustrates that radius of
orbit 705, as well as a distance between the carrier and the SLCS, a length of
long line paid
out from hoist, and a height above ground for the SLCS can be determined and
or obtained
with respect to one or more of carrier 105, SLCS 645, and long line 610, such
as with sensor
suite 220 and or sensor suite 320 and or hoist sensor 205. This information
can be used in
the system model to determine a number of coils or the shape of long line 610.
The shape
of long line 610 may be related to a response time among characteristics of
the state of the
SLCS, the carrier, and the long line, which may be used to influence the
position, motion,
and orientation of an SLCS and load relative to an objective. For example,
operational
module 900 may determine that the response time is safe and that steps do not
need to be
taken to minimize perturbation of the states; this may be due, for example,
due to a
relatively few number of coils in long 610, which may result in decreased
response time
and decreased potential for a bobbing or "yo-yo" effect, relative to long line
410. So long
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as a response time warning and or a danger condition are not present, SLCS 645
may be
driven within center of orbit, such as to achieve fine control of the
position, motion, and
orientation of SLCS 645.
[0074] Figure 8 illustrates suspended load control logical components 801
remote interface
logical components 850, and carrier and hoist logical components 880.
[0075] As illustrated in the embodiment in Figure 8, within suspended load
control logical
components 801 may be sensor suite 805, SLCS processor 820, SLCS memory 825,
SLCS
communication system 830, SLCS output 815, and power management 840.
[0076] Sensor suite 805 may comprise position sensors 806, orientation sensors
807, inertial
sensors 808, proximity sensors 809, reference location sensors 810, and thrust
sensors 811.
[0077] SLCS processor 820, may be one or more processor, microcontrollers, and
or central
processing units (CPUs). In some embodiments, processors and microcontrollers
may be
mounted to the same printed circuit board (PCB).
[0078] SLCS memory 825 may generally comprise a random-access memory ("RAM"),
a read
only memory ("ROM"), and a permanent non-transitory mass storage device, such
as a disk
drive or SDRAM (synchronous dynamic random-access memory).
[0079] SLCS memory 825 may store program code for modules and/or software
routines, such
as, for example, navigation system 826, operational module 900, and long line
loiter data fusion
and control module 1000, as well as data or information used by modules and/or
software
routines, such as, for example, target data 827, and mode or command state
information 828.
[0080] SLCS memory 825 may also store an operating system. These software
components
may be loaded from a non-transient computer readable storage medium into SLCS
memory 825
using a drive mechanism associated with a non-transient computer readable
storage medium,
such as a floppy disc, tape, DVD/CD-ROM drive, memory card, or other like
storage medium. In
some embodiments, software components may also or instead be loaded via a
mechanism
other than a drive mechanism and computer readable storage medium (e.g., via a
network
interface.
[0081] SLCS memory 825 may also comprise a kernel, kernel space, user space,
user protected
address space, and a datastore. As noted, SLCS memory 825 may store one or
more process or
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modules (i.e., executing software application(s)). Processes may be stored in
user space. A
process may include one or more other process. One or more process may execute
generally in
parallel, i.e., as a plurality of processes and/or a plurality of threads.
[0082] The kernel may be configured to provide an interface between user
processes and
circuitry associated with processor 820. In other words, the kernel may be
configured to
manage access to processor 820, a chipset, I/O ports and peripheral devices by
processes. The
kernel may include one or more drivers configured to manage and/or communicate
with
elements of operational components of deployable equipment (i.e., processor
820, chipsets,
I/O ports, and peripheral devices).
[0083] SLCS processor 820 may also comprise or communicate via a bus and/or a
network
interface with SLCS memory 825 or another datastore.
[0084] The data groups used by modules or routines in SLCS memory 825 may be
represented
by a cell in a column or a value separated from other values in a defined
structure in a digital
document or file. Though referred to herein as individual records or entries,
the records may
comprise more than one database entry. The database entries may be, represent,
or encode
numbers, numerical operators, binary values, logical values, text, string
operators, references
to other database entries, joins, conditional logic, tests, and similar.
[0085] Deployable equipment communication system(s) 830 may include wireless
system(s)
831 such as a wireless transceiver and wired system(s) 832. SLCS output 815
includes thrust
control 816 via thruster controllers. SLCS output 815 includes hoist control
813, to control a
hoist. SLCS output 815 includes carrier control 814, such as to control flight
control surfaces and
actuators of a carrier or to issue flight control instructions to a crew of a
carrier. Power
managing systems 840 regulate and distribute the power supply from, e.g.,
batteries. One or
more data connectors, data buses, and/or network interfaces may connect the
various internal
systems and logical components of SLCS 130.
[0086] Aspects of the system can be embodied in a specialized or special
purpose computing
device or data processor that is specifically programmed, configured, or
constructed to perform
one or more of the computer-executable instructions explained in detail
herein. Aspects of the
system can also be practiced in distributed computing environments where tasks
or modules
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are performed by remote processing devices that are linked through a
communications
network, such as a local area network (LAN), wide area network (WAN), the
Internet, or any
radio frequency communication technology. Data from deployable equipment may
be of very
low bandwidth and may not be restricted to a frequency or communication
protocol. In a
distributed computing environment, modules can be located in both local and
remote memory
storage devices.
[0087] Suspended load control logical components 801 may work with a remote
positional
unit, remote interface, or target node ("remote interface unit") and logical
components
thereof, such as remote interface logical components 850, and or with a
carrier and hoist logical
components, such as carrier and hoist logical components 880, in accordance
with one
embodiment.
[0088] In embodiments, the remote interface unit may, for example, be held by
an operator
or attached to a carrier by magnets, bolts, or any other attachment mechanism.
In
embodiment, the remote interface unit may be dropped at a location on the
ground or
attached to, e.g., a life preserver or other flotational device, a rescuer, a
load to be picked up, a
location for a load to be delivered, or an operational specific location.
[0089] In embodiments, the remote interface logical components 850 may convey
input from
an operator to suspended load control logical components 801, such as command
states and
operational instructions to operational module 1100 and or to hoist for long
line loiter
operational module 1100. In embodiments, remote interface logical components
850 may
convey information or data from carrier and hoist logical components 880 to
suspended load
control logical components 801 and or to an operator, such as a status of the
hoist, a length of
long line paid out, a force or mass on the hoist from the long line, and the
like.
[0090] Remote interface logical components 850 may be in communication with
suspended
load control logical components 801 and or with carrier and hoist logical
components 880 via
communication systems 870, which may be wireless 871 or wired 872. Output 860
from remote
interface logical components 850 may include information displayed on screen
861, and audio
862. Input 865 to remote interface logical components 850 to control SLCS 130
or hoist may
include commands conveyed through touchscreen 866, joystick 867, a microphone,
a camera,
one or more buttons, or the like. In various embodiments, remote interface
logical components
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850 may comprise one or more physical and/or logical devices that collectively
provide the
functions described herein. An example of an embodiment of remote interface
logical
components 850 is illustrated and discussed in Figure 12A, Figure 12B, Figure
13A, Figure 13B,
and Figure 13C.
[0091] Remote interface logical components 850 may further comprise processor
869 and
memory 873, which may be similar to processor 820 and memory 825. Memory 873
may
comprise software or firmware code, instructions, or logic for one or more
modules used by the
remote positional unit, such as remote interface module 874. For example,
remote interface
module 874 may provide control and interface for a remote interface, such as
to allow it to be
turned on and off, to pair it with an SLCS or hoist, to input instructions, or
the like.
[0092] In embodiments, remote interface logical components 850 may comprise a
sensor
suite or beacon configured to communicate, such as wirelessly, with suspended
load control
logical components 801 to provide, for example, a position reference. If SLCS
130 is considered
a primary sensor suite, a secondary sensor suite location can be in the
platform or carrier from
which a long line is suspended, and a tertiary sensor suite location can be at
a target location
(e.g., to provide location information for the target location).
[0093] Also illustrated in Figure 8 are carrier and hoist logical components
880. Carrier and
hoist logical components 880 may comprise processor 881 and memory 882, which
may be
similar to processor 820 and memory 825. Memory 882 may comprise software or
firmware
code, instructions, or logic for one or more modules used by a hoist, such as
hoist for long line
loiter operational module 1100. For example, hoist for long line loiter
operational module 1100
may pair a hoist with an SLCS, with a carrier, may output sensor data of the
hoist to the SLCS,
and may receive and act on local and remote instructions, such as to reel in
or reel out long
line, or the like.
[0094] Carrier and hoist logical components 880 may be in communication with
suspended
load control logical components 801 via communication system 890, which may
comprise
wireless 891 or wired 892 transceivers. Output 885 from carrier and hoist
logical components
880 may include information or data from, for example, hoist sensors 884, such
as, for example,
a cable length encoder, a reel torque encoder, a cable presence sensor (to
sense presence of a
long line in a hoist), stain gauges, equipment temperature sensors, power
sensors, and the like.
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Input 886 to carrier and hoist logical components 880 to control the hoist and
or carrier may
include commands from suspended load control logical components 801 and
modules, thereof,
such as operational module 900 and long line loiter data fusion and control
module 1000. Input
886 to carrier and hoist logical components 880 to control the hoist and or
carrier may also
include commands from human operators, which commands may be conveyed through,
for
example, remote interface logical components 850, such as touchscreen 866, a
joystick 867, a
microphone, a camera, one or more buttons, or the like.
[0095] Figure 9 illustrates operational module 900 of an SLCS, such as of SLCS
130, including
multiple modes or command states in accordance with one embodiment.
Instructions of, or
which embody, operational module 900 may be stored in, for example, SLCS
memory 825, and
may be executed or performed by, for example, SLCS processor 820, as well as
by electrical
circuits, firmware, and other computer and logical hardware of deployable
equipment with
which operational module 900 may interact.
[0096] In block 905, an SLCS may be installed into onto a long line. When
installed, the lone
line may be inserted into a channel in the SLCS. In embodiments, installment
may be aided or
managed by operational module 900. For example, operational module 900 may be
instructed
to or may open the channel for the long line in the SLCS. For example,
operational module 900
may sense the presence of a long line within the channel, such as with sensors
805. For
example, operational module 900 may or may be instructed to close the channel
for the long
line, such as through the activation of a clamp.
[0097] In block 910, the SLCS may be started up, such as by the press of a
button or lever on
the SLCS. In conjunction with the button or lever which may initialize the
system, another
button or lever may cause immediate system shutdown when pressed. The system
may also be
started or stopped by an operator or process not directly next to the system,
e.g. remotely by
pressing a button or activating on one or more remote interface logical
components 850 linked
wirelessly to the SLCS.
[0098] In block 915, operational module 900 may be activated and or
initialized.
[0099] In block 920, operational module 900 may receive one or more functional
modes or
command states selected by an operator or a process and may proceed to block
925. From
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block 920, operational module 900 may proceed to one or both of decision block
925 and or
decision block 940.
[0100] At decision block 925, operational module 900 may determine whether a
response
time message has been received; e.g. from block 1050 of long line loiter data
fusion and control
module 1000. The response time message may indicate that a response time
between state
conditions of the carrier, of the hoist, and of the SLCS which are not within
a safety margin.
[0101] For example, as the SLCS is being lowered, there should be a
relationship between a
length of long line paid out from hoist and a distance between the carrier and
the SLCS. This
relationship may start with a 1:1 relationship, between length of long line
paid out and distance
between the carrier and the SLCS. However, as the long line coils into a
spiral, the relationship
may change, such that as more long line is paid out by the hoist, the distance
between the
carrier and the SLCS increases at a slower rate, resulting in a longer
response time between
state conditions of the carrier, of the hoist, and of the SLCS. For example,
the response time
may be longer with respect to spiral 410, which contains more coils and have a
lower apparent
spring force than spiral 610. Long line loiter data fusion and control module
1000 may allow for
a certain amount of change and or a rate of change in the response time and,
when the amount
or rate of change in response time exceeds a safety margin or threshold, may
send a message
to operational module 900, which message may be received at decisions block
925.
[0102] At block 930, if affirmative or equivalent at decision block 925,
operational module 900
may output a message to operators, such as to crew of a carrier, operators of
a drone, crew or
personnel at a target location, or the like.
[0103] At block 935, operational module 900 may enter a command state in which
the long
line loiter system attempts to not increase or reduce the response time.
Operational module
900 may execute the functional mode or command state by calling and
performance of long
line loiter data fusion and control module 1000 as a subroutine or submodule,
to implement
the functional mode or command state and to conclude the functional mode or
command. For
example, the command state may cause long line loiter data fusion and control
module 1000 to
hold, slow increase in, or to decrease a distance between the carrier and the
SLCS and load. For
example, the command state may cause long line loiter data fusion and control
module 1000 to
decrease a rate of release of long line from the hoist, to stop releasing long
line from the hoist,
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or may cause the hoist to reel in the long line, or may control the carrier or
may issue
instructions to carrier crew to hold or increase an elevation of the carrier
or to hold or increase
a speed of the carrier. For example, the command state may cause long line
loiter data fusion
and control module 1000 to control thrusters of the SLCS to not increase a
distance between
the carrier and the SLCS and load. For example, the command state instruction
may comprise a
desired rate of acceleration, a desired elevation of the SLCS, a desired
orientation of the SLCS, a
desired location of the SLCS.
[0104] At decision block 940, operational module 900 may determine whether a
hazard
message has been received; e.g. from block 1060 of long line loiter data
fusion and control
module 1000. The hazard message may indicate that an impact with ground or
other object and
or excessive acceleration is predicted or has occurred. Excessive acceleration
may occur due to
bobbing or due to a "whip-lash" effect; e.g. a whip-lash effect as may occur
when the carrier
transitions from orbiting a target location to moving toward a destination.
[0105] If affirmative or equivalent at decision block 940, at block 945
operation module 900
may enter a command state in which the long line loiter system attempts to
avoid the hazard.
Operational module 900 may execute the functional mode or command state by
calling and
performance of long line loiter data fusion and control module 1000 as a
subroutine or
submodule, to implement the functional mode or command state and to conclude
the
functional mode or command. To avoid the hazard may comprise long line loiter
data fusion
and control module 1000 issuing instructions to control thrusters of the SLCS
to maneuver to
avoid the hazard, such as if the hazard is an obstacle above the ground. To
avoid the hazard
may comprise long line loiter data fusion and control module 1000 issuing
instruction to control
the hoist to decrease a length of long line to avoid hitting the ground. To
avoid the hazard may
comprise long line loiter data fusion and control module 1000 issuing
instruction to control the
hoist to increase a length of long line to lessen high acceleration. To avoid
the hazard may
comprise long line loiter data fusion and control module 1000 controlling the
carrier, such as a
drone, or issuing flight control instructions to crew of the carrier to change
a center of orbit of
the carrier, to change a bank angle, altitude, or velocity of the carrier to
avoid the hazard. For
example, the command state instruction may comprise a desired rate of
acceleration, a desired
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elevation of the SLCS, a desired orientation of the SLCS, a desired location
of the SLCS, a
location toward which the SLCS should not move, and the like.
[0106] Following block 935 and or block 945, operational module 900 may return
to block
920, and may allow a period of time, to determine if the response time has
return to an
acceptable level or if the hazard condition is no longer present.
[0107] If negative or equivalent at decision block 925 and or decision block
940, operational
module 900 may enter opening loop block 950 to closing loop block 965.
Operational module
900 may stay between opening loop block 950 to closing loop block 965 until an
interrupt
message is received. An interrupt message may comprise, for example,
conclusion of a
command state or a problem message, such as a response time message or a
hazard message.
[0108] In block 960 operational module 900 may perform or call long line
loiter data fusion
and control module 1000 as a subroutine or submodule, to implement a
functional mode or
command state. The functional mode or command state may be selected by a
human, such as
using a remote interface, and or may be selected by a process. Output of block
960, e.g. a
functional mode or command state instruction, may comprise a desired rate of
acceleration, a
desired elevation of the SLCS, a desired orientation of the SLCS, a desired
location of the SLCS, a
location toward which the SLCS should not move, and the like.
[0109] The functional modes or command states of the system are:
[0110] Idle mode 951: all internal systems of SLCS are operating (e.g.,
operational module 900
observes its motion and calculates control or other actions), but the
thrusters and hoist are
shut off, maintain an idle speed only, or maintain a hoist at a then-current
cable extension,
without action to affect the motion of the load.
[0111] Maintain relative position vs. carrier mode 952: Operational module 900
activates
thrusters and or hoist to stabilize an SLCS with respect to a carrier or a
target location at a
center of orbit of the carrier. For example, when the SLCS is at a target
location, operational
module 900 may activate thrusters and or hoist to cause the SLCS to at the
target location,
notwithstanding drift which may otherwise occur. This may be accomplished by,
for example,
rotating the SLCS, such as with one thruster in one thrust unit group or
opposing thrusters in
two thrust unit groups, such that the SLCS is oriented along a heading, and
then applying thrust
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from two thrusters in on a same side of the SLCS in the two thrust unit groups
to propel the
SLCS and load along the heading. For example, when the SLCS is suspended below
a fixed-wing
aircraft, operational module 900 may activate thrusters and hoist to stay at
an elevation
relative to the carrier, such as to counteract "yo-yo" effect, and to stay at
a center of an orbit of
the carrier. Operational module 900 localizes the carrier motion, determines
elastic or other
behavior of the long line, such as according to an elastic modulus of the long
line, and or
determines aerodynamic forces on the long line, and performs corrective
actions with thrusters
and hoist necessary to maintain position of the SLCS and load relative to the
carrier. If the
center of orbit of the carrier and the target location is traveling at a low
speed, operational
module 900 will couple velocity of the SLCS with the carrier using the
thrusters and hoist so the
two entities move in unison. Upon a disturbance to the load or motion of the
SLCS, operational
module 900 provides thrust or activates the hoist opposite the direction of
the disturbance to
counteract the disturbance, eliminating swing, "yo-yo" effects caused be
elasticity of the long
line and or aerodynamic forces on the long line, or spirals in the long line
(which may be caused
by the carrier orbiting the load), or other undesired motion.
[0112] Move to/stop at position mode 955: Operational module 900 will
stabilize the SLCS to
a fixed position, counteracting influence of the weather, small movements of
the carrier, or
changes in the elevation of the SLCS relative to the carrier. This mode has
the effect of negating
all motion. In this mode, an operator or another process can send the desired
target position to
the SLCS via remote interface logical components 850. This can be accomplished
in at least the
following ways:
[0113] Target node position 956: The operator can place a remote positional
unit, remote
interface, or target at the desired drop off or pickup location. The remote
positional unit will
communicate wirelessly with operational module 900 to indicate the desired
position, and
operational module 900 responds by controlling the carrier or issuing flight
instructions to the
carrier to orbit the target location and to activate thrusters and hoist to
maneuver the SLCS and
load to the desired location. This mode may further hold a desired tension on
the long line. The
remote interface logical components 850 may receive and display location
information of
entities.
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[0114] User-designated position 957: An operator or process can use the remote
interface
logical components 850 to send a designated location (e.g., latitude and
longitude coordinates,
selection of a location on a map or in an image, etc.) to operational module
900. Operational
module 900 will then, if the SLCS and load are already at the location,
control the carrier or
issue flight instructions to the carrier to orbit the target location use the
thrusters of the SLCS
and or hoist to hold the SLCS and suspended load at the designated location.
If the SLCS and
load are not at the location, operational module 900 may control the carrier
or issue flight
instructions to the carrier to orbit the target location and use the thrusters
of the SLCS and or
hoist to maneuver the SLCS and suspended load to the designated location. This
mode may
further hold a desired tension on the long line. Operational module 900 may
simultaneously
send information or data to the remote interface logical components 850
regarding, for
example, position, distance, elevation, and long line tension information for
display or
communication to an operator, process, or others.
[0115] Hold position mode 953: Operational module 900 will resist all motion
and attempt to
maintain a current location of the SLCS independent of the carrier's motion,
using thrusters and
hoist. This mode has the effect of dampening all motion of the SLCS. This mode
has conditional
responses relative respectively to carrier speed, center of orbit of the
carrier, safety factors,
and physical constraints. For example, this mode may only be able to hold a
position of the SLCS
for a relatively short time after the carrier changes its center of orbit.
[0116] Direct control mode 954: Joystick or other direct operation of the
thrusters, hoist, and
carrier in three degrees of freedom (e.g. in x-, y-, and z-axis) as well as
rotation. Though
operational module 900 may be entirely closed-loop and may not require
external control
during operation, there is an option for direct user control of the thrusters,
hoist, and carrier.
An operator is able to directly control position, rotation, thruster output
level, long line length,
or long line tension, as well as to directly control the carrier or issue
flight instructions to the
carrier. Direct control of the carrier or flight instructions to the carrier
may be through direct
control of the carrier or through selection of a center of orbit or target
location of the carrier.
[0117] Obstacle avoidance 958: operational module 900 identifies a path of the
SLCS and
load, identifies objects in the path, determines position, rotation, thruster
output level, and
long line length which may avoid the obstacle, and outputs instructions to
thrusters and or
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hoist and or the carrier to avoid the obstacle. For example, obstacle
avoidance module 958
module may receive and process sensor information such as to i) to equalize
the distance
between sensor locations, such as at fan units and objects, such as obstacles,
sensed in the
environment or ii) to measure or receive geometry of a load, measure geometry
of obstacles
sensed in the environment, determine or receive the position, orientation, and
motion of the
load, and negotiate the load relative to the obstacle.
[0118] Position relative to first and second locations mode 959: An operator
or process can
use, for example, use remote interface logical components 850 to designate a
first position
(e.g., pickup or drop off location) to operational module 900; the operator or
process may
further designate a second location, such as a location of a carrier, a
location on the ground,
etc., and may also designate a desired a rate of change between the first and
second locations.
This may comprise, for example, a moving center of orbit of the carrier.
Operational module
900 activates thrusters of the SLCS, the hoist, and controls the carrier, such
as a drone, or issues
flight control instructions to the carrier to move the SLCS from the first
location to the second
location. The rate of change may be based on percentage of a maximum rate of
change
operational module 900 can achieve, whether designated by an operator or
otherwise. This
mode may further hold a desired tension on the long line.
[0119] Block 965 may conclude when an operator or process determines that the
functional
mode or command state has been completed, such as by obtaining a desired
location, such as
by a command from the operator or process to conclude the functional mode or
command
state, or such as by an interrupt condition, such as a loss of power, or the
like.
[0120] In block 970, operational module 900 may activate the hoist to bring
the SLCS and load
up to the carrier or to another designated position and may activate thrusters
to rotate the
SLCS to an orientation compatible with being lifted to the carrier or the
designated position.
Operational module 900 may detect when the SLCS is in the hoist or at the
designated position,
detect engagement of interlocking structures of the hoist and with the SLCS,
and detect
engagement of locking structures and locking together of interlocking
structures. Operational
module 900 may detect engagement of the SLCS with an interface for the SLCS
and may
activate communication, power, and other services of the interface for the
SLCS. If the SLCS
includes collapsible arms or other components, they may be folded. Thrusters
and other
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components may be powered down. Cable retention components, such as clamps or
fingers,
may be released. The SLCS may be disengaged from terminal equipment of the
long line and or
from the long line. A load may be detached from a load hook. The long line may
be detached
from a hoist ring at a top of the SLCS. A stow cable or other securement may
be secured to the
SLCS. The SLCS may be stowed in a charger or other location.
[0121] At done block 999, if not performed at block 970, operational module
900 may be shut
down, such as by activation of a button or other control on SLCS 130, on an
interactive display,
or on remote interface of SLCS 130.
[0122] Figure 10 illustrates long line loiter data fusion and control module
1000, in
accordance with one embodiment. Instructions of, or which embody, long line
loiter data fusion
and control module 1000 may be stored in, for example, SLCS memory 825 or in
memory in a
computer processor of a carrier, and may be executed or performed by, for
example, SLCS
processor 820 or a processor of a carrier, including by electrical circuits,
firmware, and other
computer and logical hardware of deployable equipment, carrier and hoist
logical components
880, and remote interface logical components 850 with which long line loiter
data fusion and
control module 1000 may interact.
[0123] Long line loiter data fusion and control module 1000 may operate in a
closed iterative
loop to determine position and motion of the SLCS and carrier in near real
time, determine a
state of a long line, and perform a set of calculations to determine the most
desired system
response, and send desired response(s) to the air propulsion system thruster
array, to a hoist of
the carrier, and or to the carrier control a long line loiter maneuver. This
process may be
continuous while the system has power.
[0124] Opening loop block 1005 to closing loop block 1085 may iterate, so long
as long line
loiter data fusion and control module 1000 is active, such as when a
functional mode or
command state is active (e.g. when called by operational module 900).
[0125] At block 1010, long line loiter data fusion and control module 1000 may
perform data
acquisition with respect to a sensors in the SLCS, the carrier, and the hoist
including (but not
limited to) sensor suites therein, such as sensor suites comprising cameras,
accelerometers,
gyroscopes, magnetometer, inclinometer, directional encoder, radio frequency
relative bearing
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system, gravitational sensors, microelectromechanical systems (MEMS) sensors,
Global
Positioning System (GPS), lidar/radar, machine vision, range finders,
ultrasonic proximity
sensors (e.g. sensors of sensor suite 805). As noted, the hoist sensor may
provide information
or data regarding a length of long line, a tension or torque on the hoist or
reel therein, a mass
on the hoist or reel therein, or the like. This raw data or information,
however, may be subject
to noise, out-of-range values, and other errors and uncertainty.
[0126] At block 1015, long line loiter data fusion and control module 1000 may
further filter
the acquired data or information for out-of-range values, frequency
oscillations, and the like.
[0127] At block 1020, long line loiter data fusion and control module 1000 may
obtain a
functional mode or command state, such as from operational module 900, such as
from a user,
process, or operator selected functional mode or command state; e.g. from one
or more of
block 935, block 945, and or block 955. The command state may comprise
coordinates,
elevation, desired rates, and the like.
[0128] At block 1025, long line loiter data fusion and control module 1000 may
obtain a
previously estimated state, such as from block 1035.
[0129] At block 1030, long line loiter data fusion and control module 1000
combines data or
information from the sensors and hoist of block 1010 with the functional mode
or command
state from block 1020 and the previously estimated state of the system model
from block 1025
in a system model, also described as a data fusion or as an online state
estimation and
prediction. Block 1030 determines a deviation from the currently measured
state, from the
data or information from the sensors and hoist of block 1015, and the
previously estimated
state of block 1025. Block 1030 estimates a current state of the system, such
as, for example,
position, location, and orientation of the SLCS and carrier, mass or weight of
the SLCS and load,
length of long line, distance between the carrier and the SLCS, distance above
ground of the
SLCS, aerodynamic forces on the long line, distance between the carrier and
the SLCS, and
moment of inertia of SLCS (and load).
[0130] Block 1030 further predicts a near-term future state of the system,
such as, for
example, position (including elevation), orientation, motion, environmental
disturbances or
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influences and the like. This block compares the current state to a previously
predicted state
and determines a deviation between the current state and the predicted state.
[0131] In the system model used in block 1030, sensor data may be processed by
the system
model using, for example, non-linear flavors of, for example, a Kalman Filter,
such as an
Unscented Kalman Filter ("UKF"), to predict the near-term future state of the
system and to
estimate the current state of the system. Closed-loop, iterative control
methods performed in
this block may include fuzzy-tuned proportional, integral, and derivative
feedback controllers
which have bidirectional communication with advanced control methods including
deep
learning neural nets and future propagated Kalman filters, allowing for real-
time (or "online")
system identification. Block 1030 may be able to estimate current or predict
near-term state
without data or information from hoist and or from the carrier and sensor
suites therein.
However, with data or information from hoist and carrier, the state estimation
and prediction
of block 1030 may be improved.
[0132] At block 1040, long line loiter data fusion and control module 1000 may
determine
characters of change of state conditions over time, and response times among
the state
conditions of the SLCS, the carrier, and the long line, such as change in
length of long line,
movement of the SLCS over time through an absolute coordinate space, movement
of the
carrier over time through the absolute coordinate space, change in orientation
(e.g. rotation) of
SLCS over time in the absolute coordinate space, as well as response time
between, for
example, the movement of the SLCS and the carrier over time through the
absolute coordinate
space, response time for change in position of the carrier and the SLCS over
time, and response
time for change in length of long line paid in or out of the hoist and
position of the SLCS relative
to the carrier, offset in position and orientation between the SCLS and the
carrier relative to the
target location or orbital center, distance traversed in an orbital period for
the SLCS and the
carrier, change in distance traversed in the orbital period for the SLCS and
the carrier, height
above ground level of the SLCS, and the like. Such characteristics may be
determined by
determining integrals of such state conditions over time.
[0133] At decision block 1045, long line loiter data fusion and control module
1000 may
determine whether one or more of the state conditions, the characteristics of
change of state
conditions over time, and response times among the state conditions of the
SLCS, the carrier,
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and the long line are within an allowable margin. For example, as an SCLS is
paid out of a carrier
on a long line by a hoist, the response time between change in the length of
the long line and
position of SLCS relative to the carrier may change, such as due to
aerodynamic force on the
long line and the development of a portion of or one or more coils in a 3-
dimensional spiral. For
example, long line 410 in Figure 4 and Figure 5 has developed more coils in
its 3-dimensional
spiral than long line 610 in Figure 6 and Figure 7. This may be due to
differences in speed of
carrier 105 between Figure 4 and Figure 5 relative to Figure 6 and Figure 7,
differences in the
orbital distance differences between length of long line 410 and long line
610, differences in
aerodynamic forces on long line 410 and SLCS 440 and long line 610 and SLCS
640, and or
differences in mass of SLCS 440 and SLCS 640.
[0134] In general, a faster moving carrier, orbiting a greater distance from a
center of orbit,
with a longer long line, with a long line subject to greater aerodynamic
forces (such as due to a
thickness of long line), will produce a long line with more coils in its 3-
dimensional spiral. In
general, a long line with more coils in its 3-dimensional spiral will exhibit
slower response time
among the characteristics of the state of the SLCS, the carrier, and the long
line overtime. In
general, slower response time is more likely to produce dangerous non-linear
instability among
the components of a long line maneuver, such as "yo-yo" or bobbing. In
general, slower
response time between change in length of long line and position of the SLCS
relative to the
carrier is more likely to result in whiplash or excessive acceleration of the
SLCS as the carrier
exits an orbital path.
[0135] The system model may thereby be used to determine state conditions of
the
components of the long line loiter system, characteristics of the state
conditions over time, and
response time among the state conditions and characteristics of the state
conditions over time.
[0136] If negative or equivalent at decision block 1045, at block 1050, long
line loiter data
fusion and control module 1000 may transmit a message to operation module 900,
e.g. to block
925, or the equivalent to indicate that response time is not within a safety
or other allowable
margin.
[0137] If affirmative or equivalent at decision block 1045, at decision block
1055, long line
loiter data fusion and control module 1000 may determine whether a hazardous
state has or
may occur. The hazardous state may comprise, for example, one or more of an
impact with an
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object, such as with the ground or another object in the environment, an
excessive
acceleration, or the like.
[0138] If affirmative or equivalent at decision block 1055, at block 1060,
long line loiter data
fusion and control module 1000 may transmit a message to operation module 900,
e.g. to block
935, or the equivalent to indicate that the hazardous state has or may occur.
[0139] At block 1065, long line loiter data fusion and control module 1000 may
take state
estimation and state prediction and the deviation between the current state
and the previously
predicted state, informed by the user-selected or process-selected functional
mode or
command state 1025, as well as additional feedback from the thrust and
orientation mapping
1070 and output control 1080, and decides how the carrier should move, how the
hoist should
control the long line, and how the SLCS should move to achieve the functional
mode or
command state input of block 1020, such as by outputting force from thrusters,
reeling in or
paying out long line from the or hoist, or controlling or issuing flight
control instructions to the
carrier.
[0140] At block 1070, algorithmic output is sent to motion controllers from
which the desired
thrust response will be sent to the electric duct fans or thrusters via phase
control, to the hoist
for output to a reel motor, and or to the carrier and thrust and flight
control surfaces of the
carrier. The net thrust output is mapped in real-time through encoders and
load cells then sent
back to the hoist, the carrier, and thrust controllers for closed-loop
control.
[0141] At block 1075, long line loiter data fusion and control module 1000
maps how the SLCS
should move to the carrier, the hoist, and to thrusters of the SLCS to
generate a carrier, thruster
(or "fan"), and hoist mapping to control the carrier, hoist, thrusters, and
hoist to achieve the
desired orientation, elevation, and thrust of the carrier and of the SLCS in
the long line
maneuver.
[0142] At block 1080, long line loiter data fusion and control module 1000
applies the carrier,
thruster, and hoist mapping to output control signals to the carrier, or to
the hoist, to the fans
or thrusters (or electronic components controlling or controlled by the same)
to achieve the
determined position, thrust, and orientation of SLCS, exerting commanded
control output and
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implementing a dynamic response in the form of control of the carrier, thrust
from the fans,
and reeling in or paying out of the long line by the hoist.
[0143] At done block 1099, long line loiter data fusion and control module
1000 may conclude
or return to a module which may have called it.
[0144] Figure 11 illustrates hoist for long line loiter operational module
1100, in accordance
with one embodiment. Instructions of, or which embody, hoist for long line
loiter operational
module 1100 may be stored in, for example, hoist memory 882, and may be
executed or
performed by, for example, hoist processor 881, as well as by electrical
circuits, firmware, and
other computer and logical hardware of hoist, carrier and hoist logical
components 880, and
remote interface logical components 850 with which long line loiter data
fusion and control
module 1000 may interact.
[0145] At block 1105, hoist for long line loiter operational module 1100 may
obtain
information or data from sensors of a hoist, such as hoist sensors 884.
[0146] At block 1110, hoist for long line loiter operational module 1100 may
pair itself and its
hoist and or with a remote device or process. Pairing may require
authentication and
authorization in one or both devices or processes.
[0147] At block 1115 hoist for long line loiter operational module 1100 may
output hoist
sensor data or information to the paired remote device or process.
[0148] At decision block 1120 may determine whether it is to act on local or
remote
instructions. For example, hoist for long line loiter operational module 1100
may act on remote
instructions unless local instructions are received, in which case a local
over-ride may be
activated.
[0149] If negative or equivalent at decision block 1120, hoist for long line
loiter operational
module 1100 may proceed to opening loop block 1125. Hoist for long line loiter
operational
module 1100 may iterate over opening loop block 1125 to closing loop block
1140.
[0150] At block 1130, hoist for long line loiter operational module 1100 may
receive a remote
instruction, such as an instruction from operational module 900, from long
line loiter data
fusion and control module 1000, from a remote interface, or the like. The
instruction may be,
for example, an instruction to pay out long line, reel in long line, or
maintain a tension or other
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force on the long line. The instruction may be to pay out or reel in a
specified amount of cable
to or pay out or reel in until another instruction is received to stop. The
instruction may specific
a rate at which the reel is to be operated and or a maximum or minimum tension
or other force
to be achieved by the reel. Hoist for long line loiter operational module 1100
may determine a
minimum or maximum tension, rate, or force. The instruction may be to activate
actuators of
the hoist, such as actuators to deploy an SLCS from the hoist or to secure
SLCS 130 to the hoist.
[0151] At block 1135, hoist for long line loiter operational module 1100 may
output control to
implement the remote instruction, such as to pay out long line, reel in long
line, or maintain the
tension or other force on the long line, or the like.
[0152] At block 1145, which may follow an affirmative or equivalent decision
at decision block
1320, hoist for long line loiter operational module 1100 may receive a local
instruction, such as
an instruction from a crew of a carrier or an interface of the hoist which is
given a higher
priority than an instruction from another source. The instruction may be, for
example, an
instruction to pay out long line, reel in long line, or maintain a tension or
other force on the
long line. The instruction may be to pay out or reel in a specified amount of
cable to or pay out
or reel in until another instruction is received to stop. The instruction may
specific a rate at
which the reel is to be operated and or a maximum or minimum tension or other
force to be
achieved by the reel. Hoist for long line loiter operational module 1100 may
determine a
minimum or maximum tension, rate, or force. The instruction may be to activate
actuators of
the hoist, such as actuators to deploy an SLCS from the hoist or to secure the
SLCS to the hoist.
[0153] At done block 1199, hoist for long line loiter operational module 1100
may conclude,
may shut down the hoist, and or may return to a process which may have called
it.
[0154] Figure 12A illustrates a first view of a remote interface 1200 for a
hoist and SLCS, in
accordance with an embodiment. Figure 12B illustrates a second view of the
remote interface
1200 of Figure 12A, in accordance with an embodiment. Remote interface 1200
may allow
control of or communication with an SLCS and or hoist. Specific types of
control means are
discussed in the examples below, but the function and/or types of control
devices should not
be limited thereto. For example, a switch may be interchangeable with a button
or a lever. The
button may be a mechanically operated button or may be a virtually button. The
control
devices in the examples below may be interchanged with alternative devices by
one of skill the
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art without undue experimentation or burden. In an embodiment, remote
interface 1200 may
be a pendant type of hand-operated controller configured to control the
operation of an SLCS,
hoist, and or carrier.
[0155] The types of controls available may be any that are necessary to
operate an SLCS, a
carrier, and hoist, attached mechanical systems, and/or a payload before or
after attachment to
the long line and or hoist. In some embodiments, a non-limiting set of
controls may comprise
caution light 1202, over-temperature warning light 1204, deployment status
light 1206,
deployment button 1208, boom toggle switch 1210, rotary control switch 1212,
hoist vertical
control 1214, state selector switch 1216 and data and power port 1218.
[0156] As non-limiting examples, caution light 1202 may provide a configurable
alert for
potentially hazardous conditions. Over-temperature warning light 1204 may
provide a
configurable alert indicating that a mechanical system is experiencing an over-
temperature
condition. Deployment status light 1206 may shine green when an SLCS is
deployed, may flash
green when the SLCS is in position to be stowed, or provide other, similar
indications of
mechanical system status. Deployment button 1208, when pressed, may begin a
deployment
process. Deployment button 1208 may stay depressed after being initially
pressed to indicate
that an SLCS has been deployed. If pressed again, it may return to its
undepressed position to
indicate that the SLCS has been stowed. If a boom or arm attaches the hoist or
hoist housing to
the carrier, boom toggle switch 1210 may move the boom from a storage position
to an active
deployment position. Rotary control switch 1212 may allow direct control of
SLCS orientation.
This control may be dependent on depression of a controller live trigger.
Hoist vertical control
1214 may raise or lower the hoist cable, controlling the up/down motion of the
hoist payload.
[0157] In an embodiment, state selector switch 1216 may control the state or
functional
mode of SLCS. For example, the position of the switch may be used to select
whether SLCS is in
a "stabilize" state, where its fans are used to provide a rotational or
lateral impetus to
counteract load motion and stabilize the mode. The switch in another position
may be used to
put the mechanical system in an "idle" state, wherein SLCS is deployed on a
long line but does
not take any additional action.
[0158] In an embodiment, data and power port 1218 may be a USB or equivalent
connection
port. Connection to this port may provide a path for the controller
electronics to interface with
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any other systems necessary to operate or monitor the hoist integration system
and/or
attached payloads. As a non-limiting example, the port may receive power and
communicate
with a remote interface. Remote interface 1200 may have a wired or wireless
data connection
to hoist logical components and to deployable equipment logical components.
The logic for
remote interface 1200 may in some embodiments be contained within remote
interface 1200,
which may still receive power from a proximal power system by means of power
port 1218.
[0159] As illustrated in Figure 128, controls provided on the bottom side of
remote interface
1400 may comprise controller live trigger 1217 and a configurable second
trigger 1219.
Controller live trigger 1217 may be used as a safety mechanism, allowing
certain control unit
actions only when controller live trigger 1217 is depressed. For example, a
rotary control switch
may only be operable with it is activated concurrent with pressure on
controller live trigger
1217. Configurable second trigger 1219 may be provided to allow additional
functionality or
safeguards to be implemented for a specific deployable system.
[0160] Figure 13A illustrates back view of remote pendant or remote interface
1300 of an
SLCS, in accordance with an embodiment. Figure 138 illustrates an oblique view
of remote
interface 1300 of an SLCS, in accordance with an embodiment. Figure 13C
illustrates a front
view of remote interface 1300 of an SLCS, in accordance with an embodiment.
These figures
illustrate, for example, activation controller 1340, on/off switch 1345, state
selector 1350, and
manual/rotational control 1351. On/off switch 1345 may be used to turn remote
pendant 1300
on or off. State selector 1350 may be used to select a command state of
operational module
900, as may be discussed in relation to Figure 9. Activation controller 1340
may be used to
activate or deactivate operational module 1100 in or relative to a command
state selected or
indicated by state selector 1350. Manual/rotational control 1351 may be used
to manually
activate fans to rotate or translate a load or to raise or lower a hoist when
state selector 1350
has been used to select, for example, direct control mode.
[0161] Figure 14 illustrates a third oblique perspective view 1400 of carrier
105, long line
1435, path of carrier 1410, and SLCS 1415 (and optionally a load), and moving
target location
1420, in accordance with an embodiment. SLCS 1415 may be within a center of
orbit (not
labeled) of carrier 105. Figure 15 illustrates a top parallel projection view
1500 of carrier 105,
long line 1535, path of the carrier 1410, SLCS 1415, and moving target
location 1420, of Figure
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14, in accordance with an embodiment Figure 14 and Figure 15 illustrate that
physical and
logical components discussed herein may be used to cause SLCS 1415 to follow a
moving target
location, with periodic or continuous updates to path of carrier 1410 and with
SCLS 1415 being
directed to output thrust from thrusters to influence a fine location of SLCS
1415 along the
moving target location.
[0162] Although specific embodiments have been illustrated and described
herein, it will be
appreciated by those of ordinary skill in the art that alternate and/or
equivalent
implementations may be substituted for the specific embodiments shown and
described
without departing from the scope of the present disclosure. For example,
although various
embodiments are described above in terms of a helicopter, crane, or fixed wing
carrier, though
other carriers may be used. This application is intended to cover any
adaptations or variations
of the embodiments discussed herein.
[0163] Following are non-limiting examples:
[0164] Example 1. An apparatus to control a load suspended from a carrier by a
long line,
comprising: a load control system comprising a fan array and a first sensor
suite, wherein the
load control system is to be secured to a terminus of the long line and
wherein the first sensor
suite is to obtain a first state information regarding a first position,
motion, and orientation of
the load control system; the carrier comprising a hoist and a second sensor
suite, wherein the
hoist is to control a length of the long line extending from the hoist to the
load control system
and wherein the second sensor suite is to obtain a second state information
regarding a second
position, motion, and orientation of the carrier, and wherein the hoist is to
obtain a physical
information regarding the long line extending from the hoist to the load
control system; and a
computer processor and a memory; wherein the memory comprises a data fusion
module and
an operational module; wherein the data fusion module comprises a system model
representing the load control system, the carrier, and the long line; and
wherein the computer
processor is to provide the system model with the first state information, the
second state
information, and the physical information regarding the long line extending
from the hoist to
the load control system and wherein the computer processor is to execute the
data fusion
model to determine: a state of the load control system, the carrier, and the
long line,
characteristics of the state of the load control system, the carrier, and the
long line over time,
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and a response time among the characteristics of the state of the load control
system, the
carrier, and the long line over time; and wherein the computer processor is to
execute the
operational module and, based on the state of the load control system, the
carrier, and the long
line, the characteristics of the state of the load control system, the
carrier, and the long line
over time, and the response time among the characteristics of the state of the
load control
system, the carrier, and the long line over time, is to control the fan array
and the hoist, and is
to output a navigation instruction to the carrier to influence the position,
motion, and
orientation of the load control system relative to an objective.
[0165] Example 2. The apparatus according to Example 1, wherein the load
comprises at least
one of the suspended load control system or a load secured to the suspended
load control
system.
[0166] Example 3. The apparatus according to Example 1, wherein the response
time exceeds
a threshold and wherein, in response thereto, the operational module is to
determine the
objective to be to minimize perturbation of the state of the load control
system, the carrier, the
long line, and the characteristics of the state of the load control system,
the carrier, and the
long line over time.
[0167] Example 4. The apparatus according to Example 3, wherein to minimize
perturbation
of the state of the load control system, the carrier, the long line, and the
characteristics of the
state of the load control system, the carrier, and the long line over time the
operational module
is further to output the navigation instruction to the carrier to at least one
of direct a loitering
path of the carrier, direct a speed of the carrier, or direct a center of
orbit of the carrier.
[0168] Example 5. The apparatus according to Example 3, wherein the
operational module is
further to minimize perturbation of the state of the load control system, the
carrier, the long
line, and the characteristics of the state of the load control system, the
carrier, and the long line
over time with an instruction to control the hoist to hold static the length
of the long line
extending from the hoist to the load control system.
[0169] Example 6. The apparatus according to Example 1, wherein the data
fusion module is
further to predict a hazardous state of the load control system and is to
determine the
objective to be to avoid the hazardous state.
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[0170] Example 7. The apparatus according to Example 6, wherein the hazardous
state of the
load control system is at least one of an impact with an object or an
excessive acceleration.
[0171] Example 8. The apparatus according to Example 7, wherein the hazardous
state of the
load control system is the impact with an object and wherein the operational
module is further
to control the fan array to impart a torque or a lateral force on the load
control system to avoid
the object.
[0172] Example 9. The apparatus according to Example 8, wherein operational
module is
further imparting the torque to obtain an orientation and then is to impart
the lateral force to
move the load control system to avoid the object.
[0173] Example 10. The apparatus according to Example 7, wherein the hazardous
state of the
load control system is the excessive acceleration and wherein the operational
module is further
to control the hoist to lessen the excessive acceleration.
[0174] Example 11. The apparatus according to Example 10, wherein to lessen
the excessive
acceleration, the operational module is further to control the hoist to let
out the long line.
[0175] Example 12. The apparatus according to Example 1, wherein the system
model
comprises at least one of a center or orbit of the carrier, a center or orbit
of the suspended load
control system, a target location, a mass of the suspended load control system
and load, a
length of the long line, an inertia of suspended load control system and load,
a movement and
rotation of the suspended load control system, a height above ground of the
suspended load
control system, a movement and rotation of the carrier, a height above ground
of the carrier,
an aerodynamic model of the long line, a gravitational force on the long line,
and disturbance
estimations of wind force, sea state, and relative motion between the
suspended load control
system and carrier.
[0176] Example 13. The apparatus according to Example 12, wherein the target
location
moves over time.
[0177] Example 14. The apparatus according to Example 12, wherein the center
of orbit of the
carrier is larger than the target location and wherein the operational module
is to control the
fan array and the hoist and is to output a navigation instruction to the
carrier to influence the
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position, motion, and orientation of the load control system relative to the
objective within the
center of orbit of the carrier.
[0178] Example 15. The apparatus according to Example 1, wherein the physical
information
regarding the long line comprises at least one of a length of the long line
extending from the
hoist to the load control system, a tension or torque on the hoist from the
long line, or a mass
on the hoist from the long line.
[0179] Example 16. The apparatus according to Example 1, wherein the state of
the load
control system, the carrier, and the long line comprises a position,
orientation, and motion of
the carrier and a position, orientation, and motion of the load control system
and wherein the
operational module is to estimate and predict the state of the load control
system, the carrier,
and the long line based on the first state information and the second state
information,
wherein to estimate and predict the state of the load control system, the
carrier, and the long
line based on the first state information and the second state information,
the operational
module is to combine the first state information and the second state
information from the first
sensor suite and the second sensor suite in a non-linear filter according to a
system model with
feedback from at least one of a functional mode or command state of the
operational module,
a thrust and orientation mapping, or a carrier, fan array, and hoist mapping.
[0180] Example 17. The apparatus according to Example 16, wherein the non-
linear filter
comprises an unscented Kalman filter.
[0181] Example 18. A method to control a load suspended from a carrier by a
long line,
comprising: with a computer processor and a memory, with a load control system
comprising a
fan array and a first sensor suite, wherein the load control system is to be
secured to a terminus
of the long line, with the carrier comprising a hoist and a second sensor
suite, wherein the hoist
is to control a length of the long line extending from the hoist to the load
control system, and
with a system model in the memory representing the load control system, the
carrier, and the
long line, the computer processor obtaining from the first sensor suite a
first state information
regarding a first position, motion, and orientation of the load control
system; the computer
processor obtaining from the second sensor suite a second state information
regarding a
second position, motion, and orientation of the carrier; the computer
processor obtaining from
the hoist a physical information regarding the long line extending from the
hoist to the load
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control system; and the computer processor providing the system model with the
first state
information, the second state information, and the physical information
regarding the long line
extending from the hoist to the load control system; the computer processor
determining: a
state of the load control system, the carrier, and the long line,
characteristics of the state of the
load control system, the carrier, and the long line over time, and a response
time among the
characteristics of the state of the load control system, the carrier, and the
long line over time;
and, based on the state of the load control system, the carrier, and the long
line, the
characteristics of the state of the load control system, the carrier, and the
long line over time,
and the response time among the characteristics of the state of the load
control system, the
carrier, and the long line over time, the computer processor controlling the
fan array and the
hoist, and outputting a navigation instruction to the carrier to influence the
position, motion,
and orientation of the load control system relative to an objective.
[0182] Example 19. The method according to Example 18, wherein the load
comprises at least
one of the suspended load control system or a load secured to the suspended
load control
system.
[0183] Example 20. The method according to Example 18, the computer processor
further
determining that the response time exceeds a threshold and, in response
thereto, determining
the objective to be to minimize perturbation of the state of the load control
system, the carrier,
the long line, and the characteristics of the state of the load control
system, the carrier, and the
long line over time.
[0184] Example 21. The method according to Example 20, wherein to minimize
perturbation
of the state of the load control system, the carrier, the long line, and the
characteristics of the
state of the load control system, the carrier, and the long line over time the
computer
processor further outputting the navigation instruction to the carrier to at
least one of direct a
loitering path of the carrier, direct a speed of the carrier, or direct a
center of orbit of the
carrier.
[0185] Example 22. The method according to Example 20, wherein the computer
processor is
further to minimize perturbation of the state of the load control system, the
carrier, the long
line, and the characteristics of the state of the load control system, the
carrier, and the long line
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over time by controlling the hoist to hold static the length of the long line
extending from the
hoist to the load control system.
[0186] Example 23. The method according to Example 18, the computer processor
further
predicting a hazardous state of the load control system and determining the
objective to be to
avoid the hazardous state.
[0187] Example 24. The method according to Example 23, wherein the hazardous
state of the
load control system is at least one of an impact with an object or an
excessive acceleration.
[0188] Example 25. The method according to Example 24, wherein the hazardous
state of the
load control system is the impact with an object and the computer processor
further controlling
the fan array to impart a torque or a lateral force on the load control system
to avoid the
object.
[0189] Example 26. The method according to Example 25, the computer processor
further
imparting the torque to obtain an orientation and then imparting the lateral
force to move the
load control system to avoid the object.
[0190] Example 27. The method according to Example 24, wherein the hazardous
state of the
load control system is the excessive acceleration and the computer processor
controlling the
hoist to lessen the excessive acceleration.
[0191] Example 28. The method according to Example 27, wherein to lessen the
excessive
acceleration, the computer process further controlling the hoist to let out
the long line.
[0192] Example 29. The method according to Example 18, wherein the system
model
comprises at least one of a center or orbit of the carrier, a center or orbit
of the suspended load
control system, a target location, a mass of the suspended load control system
and load, a
length of the long line, an inertia of suspended load control system and load,
a movement and
rotation of the suspended load control system, a height above ground of the
suspended load
control system, a movement and rotation of the carrier, a height above ground
of the carrier,
an aerodynamic model of the long line, a gravitational force on the long line,
and disturbance
estimations of wind force, sea state, and relative motion between the
suspended load control
system and carrier.
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[0193] Example 30. The method according to Example 29, wherein the target
location moves
over time.
[0194] Example 31. The method according to Example 29, wherein the center of
orbit of the
carrier is larger than the target location and the computer processor further
controlling the fan
array and the hoist and outputting a navigation instruction to the carrier to
influence the
position, motion, and orientation of the load control system relative to the
objective within the
center of orbit of the carrier.
[0195] Example 32. The method according to Example 18, wherein the physical
information
regarding the long line comprises at least one of a length of the long line
extending from the
hoist to the load control system, a tension or torque on the hoist from the
long line, or a mass
on the hoist from the long line.
[0196] Example 33. The method according to Example 18, wherein the state of
the load
control system, the carrier, and the long line comprises a position,
orientation, and motion of
the carrier and a position, orientation, and motion of the load control system
and the computer
processor further estimating and predicting the state of the load control
system, the carrier,
and the long line based on the first state information and the second state
information,
wherein estimating and predicting the state of the load control system, the
carrier, and the long
line based on the first state information and the second state information
comprises combining
the first state information and the second state information from the first
sensor suite and the
second sensor suite in a non-linear filter according to the system model with
feedback from at
least one of a functional mode or command state, a thrust and orientation
mapping, or a
carrier, fan array, and hoist mapping.
[0197] Example 34. The method according to Example 33, wherein the non-linear
filter
comprises an unscented Kalman filter.
[0198] Example 35. A computer apparatus to control a load suspended from a
carrier by a
long line, comprising: a load control system, a carrier, a computer processor
and memory;
wherein the load control system comprises a fan array, a first sensor suite,
and means to secure
the load control system to a terminus of the long line; wherein the carrier
comprises a hoist and
a second sensor suite, wherein the hoist comprises means to control a length
of the long line
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extending from the hoist to the load control system; wherein the memory
comprises a system
model, wherein the system model represents the load control system, the
carrier, and the long
line; the computer processor comprising means to obtain from the first sensor
suite a first state
information regarding a first position, motion, and orientation of the load
control system; the
computer processor further comprising means to obtain from the second sensor
suite a second
state information regarding a second position, motion, and orientation of the
carrier; the
computer processor further comprising means to obtain from the hoist a
physical information
regarding the long line extending from the hoist to the load control system;
and the computer
processor further comprising means to provide the system model with the first
state
information, the second state information, and the physical information
regarding the long line
extending from the hoist to the load control system; the computer processor
further
comprising means to determine: a state of the load control system, the
carrier, and the long
line, characteristics of the state of the load control system, the carrier,
and the long line over
time, and a response time among the characteristics of the state of the load
control system, the
carrier, and the long line over time; and, based on the state of the load
control system, the
carrier, and the long line, the characteristics of the state of the load
control system, the carrier,
and the long line over time, and the response time among the characteristics
of the state of the
load control system, the carrier, and the long line over time, the computer
processor further
comprising means to control the fan array and the hoist, and output a
navigation instruction to
the carrier to influence the position, motion, and orientation of the load
control system relative
to an objective.
[0199] Example 36. The apparatus according to Example 35, wherein the load
comprises at
least one of the suspended load control system or a load secured to the
suspended load control
system.
[0200] Example 37. The apparatus according to Example 35, the computer
processor further
comprising means to determine that the response time exceeds a threshold and,
in response
thereto, means to determine the objective to be to minimize perturbation of
the state of the
load control system, the carrier, the long line, and the characteristics of
the state of the load
control system, the carrier, and the long line over time.
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[0201] Example 38. The apparatus according to Example 37, wherein to minimize
perturbation of the state of the load control system, the carrier, the long
line, and the
characteristics of the state of the load control system, the carrier, and the
long line over time
the computer processor further comprising means to output the navigation
instruction to the
carrier to at least one of direct a loitering path of the carrier, direct a
speed of the carrier, or
direct a center of orbit of the carrier.
[0202] Example 39. The apparatus according to Example 37, wherein the computer
processor
further comprising means to minimize perturbation of the state of the load
control system, the
carrier, the long line, and the characteristics of the state of the load
control system, the carrier,
and the long line over time by controlling the hoist to hold static the length
of the long line
extending from the hoist to the load control system.
[0203] Example 40. The apparatus according to Example 35, the computer
processor further
comprising means to predict a hazardous state of the load control system and
means to
determine the objective to be to avoid the hazardous state.
[0204] Example 41. The apparatus according to Example 40, wherein the
hazardous state of
the load control system is at least one of an impact with an object or an
excessive acceleration.
[0205] Example 42. The apparatus according to Example 41, wherein the
hazardous state of
the load control system is the impact with an object and the computer
processor further
comprising means to control the fan array to impart a torque or a lateral
force on the load
control system to avoid the object.
[0206] Example 43. The apparatus according to Example 42, the computer
processor further
comprising means to impart the torque to obtain an orientation and then impart
the lateral
force to move the load control system to avoid the object.
[0207] Example 44. The apparatus according to Example 41, wherein the
hazardous state of
the load control system is the excessive acceleration and the computer
processor further
comprising means to control the hoist to lessen the excessive acceleration.
[0208] Example 45. The apparatus according to Example 44, wherein to lessen
the excessive
acceleration, the computer processor further comprises means to control the
hoist to let out
the long line.
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[0209] Example 46. The apparatus according to Example 35, wherein the system
model
comprises at least one of a center or orbit of the carrier, a center or orbit
of the suspended load
control system, a target location, a mass of the suspended load control system
and load, a
length of the long line, an inertia of suspended load control system and load,
a movement and
rotation of the suspended load control system, a height above ground of the
suspended load
control system, a movement and rotation of the carrier, a height above ground
of the carrier,
an aerodynamic model of the long line, a gravitational force on the long line,
and disturbance
estimations of wind force, sea state, and relative motion between the
suspended load control
system and carrier.
[0210] Example 47. The apparatus according to Example 46, wherein the target
location
moves over time.
[0211] Example 48. The apparatus according to Example 46, wherein the center
of orbit of
the carrier is larger than the target location and the computer processor
further comprising
means to control the fan array and the hoist and means to output a navigation
instruction to
the carrier to influence the position, motion, and orientation of the load
control system relative
to the objective within the center of orbit of the carrier.
[0212] Example 49. The apparatus according to Example 35, wherein the physical
information
regarding the long line comprises at least one of a length of the long line
extending from the
hoist to the load control system, a tension or torque on the hoist from the
long line, or a mass
on the hoist from the long line.
[0213] Example 50. The apparatus according to Example 35, wherein the state of
the load
control system, the carrier, and the long line comprises a position,
orientation, and motion of
the carrier and a position, orientation, and motion of the load control system
and the computer
processor further comprising means to estimate and predict the state of the
load control
system, the carrier, and the long line based on the first state information
and the second state
information, wherein the means to estimate and predict the state of the load
control system,
the carrier, and the long line based on the first state information and the
second state
information comprises means to combine the first state information and the
second state
information from the first sensor suite and the second sensor suite in a non-
linear filter
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according to the system model with feedback from at least one of a functional
mode or
command state, a thrust and orientation mapping, or a carrier, fan array, and
hoist mapping.
[0214] Example 51. The apparatus according to Example 50, wherein the non-
linear filter
comprises an unscented Kalman filter.
[0215] Example 52. One or more computer-readable media comprising instructions
that cause
a computer device, in response to execution of the instructions by a computer
processor of the
computer device, to control a load suspended from a carrier by a long line,
comprising: with a
load control system, wherein the load control system comprises a fan array and
a first sensor
suite, and wherein the load control system is secured to a terminus of the
long line; with the
carrier comprising a hoist and a second sensor suite, wherein the hoist is to
control a length of
the long line extending from the hoist to the load control system; and wherein
the instructions
comprises a system model, wherein the system model represents the load control
system, the
carrier, and the long line; the instructions to cause the computer device to:
obtain from the first
sensor suite a first state information regarding a first position, motion, and
orientation of the
load control system; obtain from the second sensor suite a second state
information regarding
a second position, motion, and orientation of the carrier; obtain from the
hoist a physical
information regarding the long line extending from the hoist to the load
control system;
provide the system model with the first state information, the second state
information, and
the physical information regarding the long line extending from the hoist to
the load control
system; determine based thereon: a state of the load control system, the
carrier, and the long
line, characteristics of the state of the load control system, the carrier,
and the long line over
time, and a response time among the characteristics of the state of the load
control system, the
carrier, and the long line over time; and, based on the state of the load
control system, the
carrier, and the long line, the characteristics of the state of the load
control system, the carrier,
and the long line over time, and the response time among the characteristics
of the state of the
load control system, the carrier, and the long line over time, control the fan
array and the hoist,
and output a navigation instruction to the carrier to influence the position,
motion, and
orientation of the load control system relative to an objective.
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[0216] Example 53. The computer-readable media according to Example 52,
wherein the load
comprises at least one of the suspended load control system or a load secured
to the
suspended load control system.
[0217] Example 54. The computer-readable media according to Example 52, the
instructions
further to cause the computer device to determine that the response time
exceeds a threshold
and, in response thereto, to determine the objective to be to minimize
perturbation of the
state of the load control system, the carrier, the long line, and the
characteristics of the state of
the load control system, the carrier, and the long line overtime.
[0218] Example 55. The computer-readable media according to Example 54,
wherein to
minimize perturbation of the state of the load control system, the carrier,
the long line, and the
characteristics of the state of the load control system, the carrier, and the
long line over time
the instructions further to cause the computer device to output the navigation
instruction to
the carrier to at least one of direct a loitering path of the carrier, direct
a speed of the carrier,
or direct a center of orbit of the carrier.
[0219] Example 56. The computer-readable media according to Example 54, the
instructions
further to cause the computer device to minimize perturbation of the state of
the load control
system, the carrier, the long line, and the characteristics of the state of
the load control system,
the carrier, and the long line over time by controlling the hoist to hold
static the length of the
long line extending from the hoist to the load control system.
[0220] Example 57. The computer-readable media according to Example 52, the
instructions
further to cause the computer device to predict a hazardous state of the load
control system
and to determine the objective to be to avoid the hazardous state.
[0221] Example 58. The computer-readable media according to Example 57,
wherein the
hazardous state of the load control system is at least one of an impact with
an object or an
excessive acceleration.
[0222] Example 59. The computer-readable media according to Example 58,
wherein the
hazardous state of the load control system is the impact with an object and
the instructions are
further to cause the computer device to control the fan array to impart a
torque or a lateral
force on the load control system to avoid the object.
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[0223] Example 60. The computer-readable media according to Example 59, the
instructions
further to cause the computer device to impart the torque to obtain an
orientation and then
impart the lateral force to move the load control system to avoid the object.
[0224] Example 61. The computer-readable media according to Example 58,
wherein the
hazardous state of the load control system is the excessive acceleration and
the instructions
further to control the hoist to lessen the excessive acceleration.
[0225] Example 62. The computer-readable media according to Example 61,
wherein to lessen
the excessive acceleration, the instructions are further to control the hoist
to let out the long
line.
[0226] Example 63. The computer-readable media according to Example 52,
wherein the
system model comprises at least one of a center or orbit of the carrier, a
center or orbit of the
suspended load control system, a target location, a mass of the suspended load
control system
and load, a length of the long line, an inertia of suspended load control
system and load, a
movement and rotation of the suspended load control system, a height above
ground of the
suspended load control system, a movement and rotation of the carrier, a
height above ground
of the carrier, an aerodynamic model of the long line, a gravitational force
on the long line, and
disturbance estimations of wind force, sea state, and relative motion between
the suspended
load control system and carrier.
[0227] Example 64. The computer-readable media according to Example 63,
wherein the
target location moves over time.
[0228] Example 65. The computer-readable media according to Example 63,
wherein the
center of orbit of the carrier is larger than the target location and the
instructions are further to
cause the computer device to control the fan array and the hoist and output a
navigation
instruction to the carrier to influence the position, motion, and orientation
of the load control
system relative to the objective within the center of orbit of the carrier.
[0229] Example 66. The computer-readable media according to Example 52,
wherein the
physical information regarding the long line comprises at least one of a
length of the long line
extending from the hoist to the load control system, a tension or torque on
the hoist from the
long line, or a mass on the hoist from the long line.
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[0230] Example 67. The computer-readable media according to Example 52,
wherein the state
of the load control system, the carrier, and the long line comprises a
position, orientation, and
motion of the carrier and a position, orientation, and motion of the load
control system and the
instructions are further to cause the computer device to estimate and predict
the state of the
load control system, the carrier, and the long line based on the first state
information and the
second state information, wherein to estimate and predict the state of the
load control system,
the carrier, and the long line based on the first state information and the
second state
information comprises to combine the first state information and the second
state information
from the first sensor suite and the second sensor suite in a non-linear filter
according to the
system model with feedback from at least one of a functional mode or command
state, a thrust
and orientation mapping, or a carrier, fan array, and hoist mapping.
[0231] Example 68. The computer-readable media according to Example 67,
wherein the non-
linear filter comprises an unscented Kalman filter.
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