Suspended aerial vehicle system with thruster stabilization

Abstract

To provide a suspended aerial vehicle system which reduces an installation area and provides other advantages such as longer flight time and higher load resistance in comparison to a conventional drone product.SOLUTION: A suspended aerial vehicle system includes an aerial vehicle with a thruster assembly and a supporting line attached to the aerial vehicle that is capable of supporting at least some of the weight of the aerial vehicle. The supporting line may have an adjustable length which when varied, and in coordination with variations in a thrust characteristic of the aerial vehicle, may change the position of the aerial vehicle. Other aspects are also described and claimed.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This application claims the benefit of U.S. Provisional Application No. 62 / 858,330, filed on Jun. 7, 2019, the disclosure of which is hereby expressly incorporated by reference in its entirety.

[0002] One aspect of the present disclosure relates to an aerial vehicle, and more particularly, to an aerial vehicle that coordinates a support line and thruster stabilization. Other aspects are also described.

Background Art

[0003] Recent innovations in batteries and miniaturization of complex electronics such as processors have brought great benefits to avionics. One segment of the field that has seen the most growth in both hobbyist and professional use is small unmanned aerial vehicles, commonly known as drones. This newly emerging technology has found creative uses in a variety of fields such as photography, military, wildlife conservation, and construction.

[0004] While future uses for drone technology are being developed and investigated, there remain development challenges that need to be addressed. For example, trade-offs between factors such as size, battery cost, and noise generation continue to be relevant to the range of drones. These considerations are important in applications where the drone may move through a congested urban environment or carry heavy loads over long distances such as in package delivery. These factors are particularly relevant when convincing regulatory authorities that the developed system is viable and safe. Conventional solutions have continued to focus on managing the compromises between range, size, and maneuverability.

Summary of the Invention

[0005] One aspect of the present disclosure relates to an aerial vehicle whose thrust capacity is enhanced by a connected support line. A suspended aerial vehicle system with thruster stabilization provides various solutions to current problems in the drone field, reducing the installation area and offering other advantages such as longer flight times and higher load capacities compared to conventional drone products.

[0006] In one embodiment, the support line is attached to the load point of the aerial vehicle. The support line can be configured to support the weight of the aerial vehicle and distribute the weight of the aerial vehicle to a "grounded" anchor point located outside the aerial vehicle. For example, the support line can be connected to a winch system that can wind around the support line, thus increasing the tension in the support line and, in some cases, pulling the aerial vehicle towards the winch system.

[0007] The aerial vehicle may have a form of directional thrust generation such as a rotor. For example, the aerial vehicle can be in a "quadcopter" configuration. The controller can operate the position of the aerial vehicle through the coordinated operation of a winch system that winds or unwinds the support line and a thruster that changes the magnitude of the generated force and the angle of the generated thrust with respect to the support line. This coordination enables the controller to optimize the energy output required to move or maintain the position of the aerial vehicle because the thrust that might have been required to counteract gravity can be offset by the support line. If less output is required from the thruster, the thruster and support structures such as the battery can be miniaturized, while the aerial vehicle can maintain equivalent or better capabilities in terms of flight time and payload. The smaller the thruster and support structures within the aerial vehicle, the smaller the installation area and noise profile of the aerial vehicle, and the better the maneuverability of the aerial vehicle.

[0008] Other advantages may be obtained through the coordination between the winch system and the thruster. For example, the ability of the support line to bypass the need for a thruster to counter environmental forces such as gravity or wind loads allows the thruster to be used to efficiently orient the aerial vehicle. For example, the aerial vehicle can maintain a stationary position in an orientation orthogonal to the direction of gravity by maximizing the tension within the support line.

[0009] In one embodiment, the aerial vehicle can be connected to another vehicle by a support line. For example, the vehicle can be an aerial vehicle in a "mother ship" configuration. In this case, at least a portion of the weight of the aerial vehicle is supported by this mother ship. The mother ship can have characteristics that enhance long - term flight efficiency, thereby providing system - level advantages for large - scale aerial vehicle systems while maintaining the accessibility provided by the smaller aerial vehicles.

[0010] The system can be configured for specific functions. For example, the aerial vehicle can perform any of a variety of functions enabled by attachment to a payload, cleaning of a remote surface, disassembly of weapons, or the advantages provided by the system.

Brief Description of the Drawings

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[0012] Some aspects of the disclosure herein are shown by way of example and not limitation in the figures of the accompanying drawings. In the figures, like reference indicates like elements. Note that references to “an” or “one” aspect in this disclosure do not necessarily refer to the same aspect, but rather they mean at least one. Also, for brevity and to reduce the total number of figures, the features of two or more aspects of the disclosure can be described using a given figure, and not all elements of the figure are required for a given aspect.

Best Mode for Carrying Out the Invention

[0013] Next, some aspects of the disclosure will be described with reference to the accompanying drawings. Whenever the shape, relative position and other aspects of the described components are not explicitly defined, the scope of the present invention is not limited to only the components shown for illustrative purposes. Also, although many details are described, it will be understood that some aspects of the disclosure can be practiced without these details. In other instances, well-known circuits, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

[0014] Embodiments of the present disclosure are directed, inter alia, to a suspended aerial vehicle system stabilized by thrusters. A suspended aerial vehicle system stabilized by thrusters may include an aerial vehicle connected to a support line, which may be remotely fixed to an anchor point. In an exemplary embodiment, the aerial vehicle system may include an unmanned aerial vehicle (UAV) attached to a support line connecting the UAV to the anchor point, whereby a first end of the support line is connected to the UAV. The present disclosure contemplates applications in which no human pilot is aboard the aerial vehicle, but aspects of the present disclosure contemplate that a pilot or human user may be aboard the aerial vehicle without departing from the concepts of the present invention. The anchor point may include a winch system operable to vary the length of the deployed support line, i.e., the winch line. The anchor point to which the winch system is attached may vary depending on the application. For example, the anchor point may be a stable surface such as the top of a building or a movable surface such as a second aerial vehicle.

[0015] Applying a lifting force in the vertical direction to the UAV in the form of a winch system enhances the desirable characteristics of the UAV, making it an ideal solution in a wide range of applications, while solving some of the major drawbacks of the UAV. The winch system enables a reduction in energy consumption by the UAV, as the amount of thrust that the UAV needs to generate to maintain a desired altitude is reduced or eliminated. The footprint of the UAV itself can also be reduced by reducing the size of the thrusters required to generate sufficient lift and by removing UAV components such as batteries and controllers that are essential and connectable via the support line. Furthermore, since the UAV does not need to be completely self - supporting in the vertical direction, the thrust / power available in other axes (lateral and attitude control) is significantly increased.

[0016] Furthermore, the versatility of the system that can provide various types of anchor points and UAV functions enables many applications. For example, with a winch system, a UAV can generate thrust in a direction different from the conventional one. When the UAV is actively suspended by the winch system, it may not be necessary to provide lift to the UAV's thrusters to maintain the UAV's height. The thrusters can be used to provide a force in a direction perpendicular to gravity. For example, when the UAV is used in an application where it places a sticker at a designated placement point on the external window of a supertall building, the winch system can be fixed above the placement point. With the winch system supporting the UAV at the desired height, the UAV's thrusters can generate a thrust directed towards the window sufficient to attach the sticker to the window. Furthermore, the winch system can dynamically adjust the length of the support line to enable the UAV to traverse within a plane orthogonal to gravity.

[0017] The UAV can be configured to perform services enabled by the UAV's ability to efficiently navigate in a narrow airspace. For example, the UAV can deliver packages to balconies and potentially make noise that bypasses protrusions and constricted enclosures. This function enables the UAV to perform deliveries in the dense and restricted environments of urban areas. Examples of packages delivered by such means can include consumer goods such as books, clothing, or electronics from warehouses, fulfillment centers, or waystations. Other examples can include point-to-point deliveries of food, medical devices, and pharmaceuticals. These examples are non-limiting, and the UAV can potentially collect and deliver any cargo that fits within the extended dimensional and weight thresholds achievable by the system.

[0018] As used herein, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle that can perform some functions without a physically present human pilot. Examples of flight-related functions can include, among others, sensing its environment and operating in the air without the need for input from an operator, but are not limited thereto.

[0019] The UAV can be autonomous or semi-autonomous. For example, some functions can be controlled by a remote human operator, while other functions are executed autonomously. Further, the UAV can be configured such that a remote operator can take over functions that would otherwise be autonomously controlled by the UAV. Further, a given form of function can be remotely controlled at one level of abstraction and executed autonomously at another level of abstraction. For example, a remote operator can control high-level navigation decisions of the UAV, such as by specifying that the UAV change location, while the UAV's navigation system autonomously controls more fine-grained navigation decisions, such as route selection and obstacle avoidance. Other examples are possible.

[0020] The UAV can take various forms. For example, the UAV can take the form of a rotary-wing aircraft such as a helicopter or multicopter, a fixed-wing aircraft, a jet, a ducted fan aircraft, a lightweight flyer such as an airship or a steerable balloon, a tail sitter aircraft, a glider aircraft, and / or an ornithopter. Further, the terms "drone", "unmanned aerial vehicle system (UAVS)" or "unmanned aerial system (UAS)" may be used to refer to the UAV.

[0021] FIG. 1 shows an exemplary aspect of a thruster-stabilized suspended aerial vehicle system, referred to herein as a suspended aerial vehicle system. The suspended aerial vehicle system can include a UAV 104 and a support line 107. In this figure, the UAV 104 takes the form of a multicopter, which includes a thruster assembly 105 that utilizes four rotors 109, although other examples are possible with five or more rotors, less than four rotors, and combinations with actuators used to adjust the rotor thrust for rotary-wing aircraft. As previously discussed, it is contemplated that the UAV 104 can take the form of an aerial vehicle that does not rely on rotors for thrust generation, i.e., does not rely solely on rotors. For example, the UAV 104 can include directionally orientable thrusters. A tank or hose capable of supplying a substance that is ejected from the thruster to exert a force can be connected to the thruster. Some examples are thrusters in gas form, chemical propellants, and directional airflow blowers. Also, it is contemplated that the UAV 104 can utilize a combustion motor to provide thrust. Without departing from the concepts of the present invention, it is possible to consider other examples of thrusters capable of generating directionally focused thrust. Thus, the thruster assembly 105 shows one embodiment of the present disclosure, but the terms "thruster" and "thrust engine" as used herein can refer to any form of directionally orientable thrust generation system known in the art.

[0022] The UAV 104 can have flight control capabilities such that the pitch, roll, yaw, and / or altitude of the UAV 104 can be adjusted via various means. For example, the rotors 109 provide thrust and flight control to the UAV 104. More specifically, each rotor 109 includes blades 111 attached to a motor. With rotors 109 configured in such a manner, the UAV 104 can vertically take off and land, maneuver in any direction, and / or hover. Further, the pitch of the blades 111 can be adjusted as a group and / or differentially, and the pitch enables the UAV 104 to perform three-dimensional aerial maneuvers such as, among others, inverted hovering, continuous tail-down “tic-toc,” loops, loops with pirouettes, stall turns with pirouettes, knife-edge, Immelmann, slapper, and running reversals. When the pitch of all the blades 111 is adjusted to perform such aerial maneuvers, this may be referred to as an adjustment of the “collective pitch” of the UAV 104. Additionally, or alternatively, the UAV 104 can adjust the rotational speed of the rotors 109 collectively or differentially to maneuver. For example, by maintaining a constant speed of three of the rotors 109 and decreasing the speed of a fourth rotor, the UAV 104 can roll right, roll left, pitch forward, or pitch backward depending on the rotor 109 selected for deceleration. Specifically, the UAV 104 can roll in the direction of the decelerated rotor 109. As another example, all of the rotors 109 can be simultaneously accelerated or decelerated to respectively raise or lower the altitude of the UAV 104. As yet another example, rotors 109 rotating in the same direction can be accelerated or decelerated such that the UAV 104 can execute a yaw to the left or right. These are just a few examples of the various types of operations that can be achieved by adjusting the RPM and / or the direction in which the rotors 109 are rotating, either separately or in combination. In embodiments that do not utilize rotors for thrust, similar maneuvers can be contemplated.

[0023] In addition, the UAV 104 may include a housing 112. The housing 112 may include and / or connect to rotors 109 and other necessary or desired components, such as, among other possibilities, a motor, an inertial measurement unit (IMU) and / or control electronics such as an electronic speed controller, a battery, other sensors, and / or a payload. The illustrated UAV 104 includes two housings 112, each housing 112 being configured to include two rotors 109, and the housings 112 are connected by an axle 117. However, it is contemplated that a single housing 112 may carry all of the rotors 109 of the UAV 104. Alternatively, three or more housings 112 may be used, each housing 112 carrying at least one rotor 109 and each housing 112 being connected so as to form part of the UAV 104.

[0024] The axle 117 may permit independent rotation of each housing 112 connected to the axle 117 such that, as a result, a first housing at the proximal end of the axle 117 may rotate in a first direction and a second housing at the distal end of the axle 117 may rotate in a second direction. Further, the axle 117 may enable the first housing to rotate at a different degree or speed than the second housing is rotated while the first housing is in the same direction. Also, the axle 117 may enable the first housing to remain in a static orientation while the second housing rotates relative to the first housing. In some embodiments, the UAV 104 may utilize multiple axles 117. For example, the axles may be connected orthogonally and each axle may rotate independently of the other axles such that, as a result, rotors connected to a first axle may maintain an orientation independent of rotors connected to a second axle.

[0025] In a further aspect, UAV 104 includes a rotor protector 122. Such a rotor protector 122 can serve multiple purposes, such as protecting the rotor 109 from damage, protecting the UAV 104 structure from damage, protecting nearby objects from damage by the rotor 109, and the like. Further, the rotor protector 122 can function as a noise damper to reduce the noise generated by the high-speed rotation of the rotor 109. It should be understood that embodiments without the rotor protector 122 are also possible. Further, rotor protectors 122 of different shapes, dimensions, and functions are possible without departing from the scope of the present invention.

[0026] In a further aspect, UAV 104 includes one or more communication systems. The communication system can include one or more wireless interfaces and / or one or more wired interfaces that enable the UAV 104 to communicate via one or more networks. Such wireless interfaces can provide communication under one or more wireless communication protocols such as Bluetooth, WiFi (e.g., IEEE 802.11 protocol), Long Term Evolution (LTE), WiMAX (e.g., IEEE 802.16 standard), Radio Frequency ID (RFID) protocol, Near Field Communication (NFC), and / or other wireless communication protocols. Such wired interfaces can include an Ethernet interface, a USB interface, or a similar interface that communicates with a wired network via a wire, twisted pair copper wire, coaxial cable, optical link, optical fiber link, or other physical connection.

[0027] In an exemplary embodiment, the UAV 104 may include a communication system that enables both short-range and long-range communication. For example, the UAV 104 may be configured for short-range communication using Bluetooth and long-range communication under the CDMA protocol. In such an embodiment, the UAV 104 may be configured to function as a "hotspot", in other words, as a gateway or proxy between the remote support device and one or more data networks (such as a cellular network and / or the Internet). The UAV 104 configured in this way may facilitate data communication that would otherwise be impossible for the remote support device to perform on its own.

[0028] For example, the UAV 104 may provide a WiFi connection to the remote device and function as a proxy or gateway to the data network of a cellular service provider to which the UAV 104 may connect in accordance with, for example, the LTE or 5G protocol. Also, the UAV 104 may function as a proxy or gateway to a high-altitude balloon network, a satellite network, or a combination of these networks, which the remote device may not be able to access otherwise.

[0029] One aspect is directed to a support line 107 connected to the UAV 104. The support line 107 may be connected to the UAV 104 at a first end of the support line 107. The support line 107 may be formed from various materials. For example, if the support line 107 needs to be flexible, the support line 107 may include high-tensile-strength polymer fibers, metal and / or synthetic cables, ropes, and other materials that exhibit sufficient strength and flexibility. In another aspect, the support line 107 may be rigid, in which case the distance between the first end of the support line 107 and the second end of the support line 107 is substantially constant. In yet another aspect, the support line 107 may include a plurality of rigid members, such as in a chain configuration or a telescopic rod configuration.

[0030] The support line 107 can be connected to a point on the UAV 104 that is designed to distribute some or all of the weight of the UAV 104 to the support line 107. For example, the support line 107 can be directly connected to an element of the UAV 104 such as the axle 117 or the thruster assembly 105. The support line 107 can include a snap link at a first end thereof, which can engage a U-bolt connection attached to an element of the UAV 104. However, similar attachment means can be contemplated without departing from the concept of the present invention. Alternatively, the support line 107 can be connected to a specially designed support line attachment mechanism that is connected to a point on the UAV 104 or to one or more other members connected to the UAV 104. The support line 107 can be attached to the UAV 104 in such a way as to allow a free rotational degree of freedom with respect to the thruster assembly 105 while maintaining the ability to bear some or all of the gravitational and inertial loads of the suspended aerial vehicle system. For example, as shown in the figure, the support line 107 can be connected to a rotary bearing 138 on the axle 117.

[0031] Support line 107 may include a conduit that connects UAV 104 to a power or data source. For example, in embodiments where at least a portion of the power distribution system is not “mounted” on UAV 104, the conduit may transmit power from a power source located external to UAV 104, such as the second end of support line 107, to UAV 104. In this case, the conduit may include an electrical cable that connects a battery at the second end of support line 107 to an in-vehicle power distribution system on UAV 104. The energy storage unit may be considered to be located within the in-vehicle power distribution system, and in that case, the power cable within the conduit may be used to charge an in-vehicle energy storage device such as a battery. In another example, the conduit may have a data transmission wire formed of a conductive material (e.g., for transmitting a data-encoded electrical signal) and / or an optical fiber line (e.g., for transmitting a data-encoded optical signal). A central controller and / or operator that may be located at the second end of support line 107 may remotely control the operation of UAV 104 by sending commands to UAV 104, which may have an on-board processor, via a signal cable. Similarly, UAV 104 may return sensor data to the central controller and / or operator using the signal cable.

[0032] FIG. 2 shows an aspect of this embodiment where the second end of support line 107 may be substantially connected to an anchor point 203 located outside UAV 104. Anchor point 203 may be fixed to an outer surface such as a building column or roof, in which case anchor point 203 cannot change its position independently of the outer surface to which it is attached. The second end of support line 107 may be attached to anchor point 203. For example, anchor point 203 may be a hook that is bolted to the outer surface, and on the one hand, the second end of support line 107 may be fixed to the hook.

[0033] The anchor point 203 can include a mechanical device, thereby enabling a change in the length or tension of the support line 107 between the first end and the second end of the support line 107. An example of such a mechanical device is a winch system, which can include a winch 207 for pulling (winding up) or drawing out (paying out) the support line 107 onto a spool when the spool is actuated by a motor. Examples thereof include a snubbing winch, a wakeboard winch, a glider winch, and an air winch. Although specific embodiments are provided, the term "winch system" can refer to any of a variety of systems and means for changing the length of the support line 107 that can be contemplated without departing from the concepts of the present invention.

[0034] In an embodiment where the anchor point 203 includes a winch system, the winch 207 can be fixable. For example, the winch system can be attached, either permanently or temporarily, near or on the surface of the anchor point 203 by bolting the winch system to an external surface or by connecting the winch system to a pairing mechanism located on the external surface. When a suspended aerial vehicle system is used adjacent to a building, the winch 207 can be attached to the upper part or near the building. Also, the winch 207 can be connected to a movable support such as a telescopic pole, thereby making it possible to move the position of the anchor point 203.

[0035] FIG. 3A shows an embodiment including a suspended aerial vehicle system having a plurality of support lines 107. The UAV 104 may have attachment points for two or more support lines 107. When two or more support lines are attached to the UAV 104, the support lines may be operated independently or in cooperation. For example, a first support line may be attached to a first end of the UAV 104, and a second support line may be attached to a second end of the UAV 104. The first end of the UAV 104 may be balanced by the second end of the UAV 104. For example, if it is desirable to tilt the UAV 104 such that the height of the first end is different from the height of the second end to orient the UAV 104 parallel to the direction of gravity, the length of the first support line may be changed in coordination with the length of the second support line so that the desired operation can be achieved to adjust the height of the first end of the UAV 104 by either lowering or raising the first end of the UAV 104. On the other hand, the second support line may remain substantially stationary to maintain the height of the second end of the UAV 104 relative to the first end of the UAV 104. Three support lines attached to the UAV 104 may achieve better control over the orientation of the UAV 104. The plurality of support lines, each connected to one or more UAVs, may be connected to a single anchor point as shown in FIG. 3B. It is contemplated that all support lines can be operated with a single winch system.

[0036] FIG. 3C shows an example where the winch 306 may be located at the first end of the support line 107 such that the winch 306 is "mounted" on the UAV 104. Further, in embodiments where there are multiple winch systems utilized, it is contemplated that a first winch 306 located at or near the first end of the support line 107 and a second winch 307 located at or near the second end of the support line 107 may exist. In one example, the first winch 306 may perform a "finer" or more delicate length correction compared to the second winch 307 which may perform a coarser adjustment of the length of the support line 107. It is also possible to consider additional configurations of the winch system and support lines without departing from the concepts of the present invention.

[0037] In one aspect, the anchor point 203 can be temporary, changeable, or established during the operation of the suspended aerial vehicle system by means such as a guy line. FIG. 4A shows the anchor point 203 located on the stationary area. In FIG. 4B, the anchor point 203 is located on a transport unit 404 that is movable along a single axis with respect to the stationary area. For example, the transport unit 404 can be a transport system based on a track that can move the anchor point 203 to a predetermined position. In FIG. 4C, the anchor point 203 is located on a transport unit 404 that is translatable across a plurality of axes with respect to the stationary area. For example, the transport unit 404 can be a vehicle, and this vehicle can cross a two-dimensional or three-dimensional concourse and move the suspended aerial vehicle system to any location within the vehicle's range. In another example, the transport unit 404 can be a motion stage such as a gantry system. As shown in FIG. 5, a plurality of transport units 404 can be used within the vicinity of the stationary area, and as a result, each of the transport units 404 can access a portion of the same workload, and each of the suspended aerial vehicle systems can have any one of the configurations described in FIGS. 4A to C.

[0038] FIG. 6 shows another aspect of the present disclosure in which the anchor point 203 can be fixedly connected to a system that can translate the position of the anchor point 203. The illustrated system is a crane 602 that can relocate the anchor point 203 by combining a rotating base 603 and a telescoping arm 607. The rotating base 603 can rotate the telescoping arm 607 to any orientation up to 360 degrees, but the rotation of the rotating base 603 can be limited within that range, thereby reducing the degree of freedom of rotation of the rotating base 603. The telescoping arm 607 can have an adjustable length, and as a result, the anchor point 203 can translate closer to the rotating base 603 when the length decreases and translate farther from the rotating base 603 when the length of the telescoping arm 607 increases.

[0039] In an embodiment where the support line 107 is connected to the winch system, the movement of the UAV 104 can be adjusted with up to six degrees of freedom by changing the length of the support line 107 and by changing the thrust characteristics of the thruster. As can be seen in FIG. 7, the possible positions of the UAV 104 can be defined by an “envelope” that is defined as the volume of a sphere surrounding the winch system such that the ends of the support line 107 are farthest from the UAV 104. The end of the support line 107 that can be connected to the winch or the anchor point 203 is the center of that sphere, and the radius of the sphere is the length of the support line 107. The outer boundary of the sphere is the farthest that the support line 107 can extend in all directions. Generally, changing the length of the support line 107 can affect the vertical position of the UAV 104 within the envelope. For example, when the winch system is at position A, the winch system can pull more of the support line 107 into the spool, which can act to move the UAV 104 towards the height of position B relative to the anchor point 203. When the UAV 104 is at position B, the winch system can pull more of the support line out of the spool and the UAV 104 can move towards position A. Thus, by increasing or decreasing the amount of the support line that is actively being used to support the weight of the UAV 104, the distance between the winch system and the UAV 104 can be increased or decreased, making it possible to manipulate the position of the UAV 104 along the vertical axis. The length of the support line 107 that is actively being used to support the weight of the UAV 104 can be adjusted by other means, such as by using a linear actuator to change the length of the support line 107.

[0040] Similarly, by adjusting the thrust characteristics of the thruster, the UAV 104 can be moved within the envelope. For example, to move the UAV 104 in the direction from position A to position C, the thruster can be oriented to generate thrust towards the right to propel the UAV 104 towards the left.

[0041] Also, FIG. 7 shows how the positioning of the UAV 104 within the envelope can be achieved for a change in the length of the support line 107 coordinated in response to a change in the characteristics of the thrust generated by the thrusters mounted on the UAV 104, where the possible positions of the UAV 104 within the envelope include substantially all points within the three-dimensional space within the envelope. In one aspect, it may be desirable for the UAV 104 to move from a first position to a second position within the envelope. The suspended aerial vehicle system may instruct the winch system to wind or pay out the length of the support line 107. On the other hand, the suspended aerial vehicle system may instruct the thrusters to generate thrust in terms of direction and magnitude with respect to the UAV 104 to cooperatively move the UAV 104 to a desired location simultaneously and / or during the same period. When the UAV 104 moves from position A to position B, the length of the support line 107 decreases and pulls the UAV 104 upward, while the thrusters generate a thrust that pushes the UAV 104 in the right direction and orient the UAV 104 so that the UAV 104 can move substantially diagonally upward and to the right. When the UAV 104 is located from position A to position C, it will be necessary to extend the length of the support line 107. On the other hand, the thrusters generate a thrust that pushes the UAV 104 in the left direction, enables the UAV 104 to move substantially horizontally, and orient the UAV 104.

[0042] This coordination between the size of the thruster and the lift direction and the length and angle of the support line 107, combined with the availability of variable thrust in the non-vertical axis due to the load capacity of the support line 107, enables precise positioning. For example, by performing coordinated operations with respect to the length of the support line 107 and the orientation of the thruster, the UAV 104 can translate parallel within the horizontal plane without changing its vertical position. Thereby, the suspended aerial vehicle system can position the UAV 104 at a specified position relative to the position of the winch system at some or all points during flight, such as navigating through a narrow entry window. The thruster of the UAV 104 can adjust the orientation of the UAV 104 to an angle with respect to the nadir, while the length of the support line 107 is adjusted as the UAV 104 approaches the entry window, and the support line 107 can be maintained at an optimal or desired angle with respect to the nadir.

[0043] Figure 8 shows one aspect of the present disclosure where the anchor point 203 is located on a vehicle. The vehicle can be any of a variety of land, sea, air, and multi-mode vehicles. In the illustrated example, the vehicle can be an aerial vehicle 808 referred to herein as the "mother ship". Here, the mother ship 808 is large enough to support some or all of the weight of the UAV 104 while the mother ship 808 is in transit. The mother ship 808 can be a pure fixed-wing aircraft, a rotary-wing aircraft, or any other aircraft capable of flight. The illustrated mother ship 808 is a composite / transition aircraft having both a lift surface 811 and a propeller 813 characteristic of a fixed-wing aircraft and a thruster 816 characteristic of a rotary-wing aircraft. The illustrated mother ship 808 configuration advantageously enables long-range cruising of a fixed-wing aircraft with the hovering function of a rotary-wing aircraft and accurate positioning capabilities. The mother ship 808 can also have a vertical takeoff and landing (VTOL) function compatible with rotary-wing aircraft.

[0044] In this figure, the anchor point 203 is located below the mother ship 808, but the anchor point 203 can also be in other positions. When the UAV 104 is "parked", that is, when it is not in flight, the UAV 104 can be firmly attached to the mother ship 808. The mother ship 808 can have a dock (not shown) where it resides when the UAV 104 is not flying. The dock can be internal (such that the UAV 104 is substantially stored within the mother ship 808), external (such that the UAV 104 is attached to the outer surface of the mother ship 808), or a combination of both. The dock can have clips to firmly hold the UAV 104 in place. The dock can release the UAV 104 when it is ready to fly, thereby enabling the UAV 104 to depart from the mother ship 808. The length of the support line 107 can be extended by a winch system, thereby allowing the UAV 104 to descend from the mother ship. When the UAV 104 departs from the mother ship 808, the thrusters of the UAV 104 can be activated to direct the flight of the UAV 104 either alone or in cooperation with the winch system. When the UAV 104 has finished flying and is ready to park, the UAV 104 can return to the mother ship 808 and attach to the dock.

[0045] Figure 9 shows how a suspended aerial vehicle system can achieve precise positioning of the UAV 104 relative to the mother ship 808 within the envelope through changes in the length of the support line 107 coordinated in response to changes in the characteristics of the thrust generated by the thrusters mounted on the UAV 104 in a manner similar to the method shown in Figure 7. Through the coordination of the winch system and the thrusters, the UAV 104 can be repositioned from position A to position B relative to the mother ship via any of a variety of possible trajectories.

[0046] Due to the precise positioning of the UAV 104 described herein enabled by the suspended aerial vehicle system, the UAV 104 may be able to maintain a stationary position while the mother ship 808 changes position during a flight pattern. For example, FIG. 10 shows a mother ship 808 that may have a flight pattern consisting of a circular holding pattern while the UAV 104 maintains a position substantially stationary with respect to a fixed reference point such as a reference plane on the ground. Through coordinated changes in the thrust engine and the winch system, the UAV 104 may be repositioned with respect to the mother ship 808. For example, if the mother ship 808 is taken as the fixed reference point of the UAV 104 and thus the movement of the mother ship 808 relative to the ground is ignored, the UAV 104 appears to be orbiting under the mother ship 808 in a manner similar to the holding pattern shown in the figure. Thereby, to maintain the desired position relative to the fixed point, it is shown that the UAV 104 can continuously adjust the thrust vector of the thrust engine while simultaneously the winch system can continuously adjust the length of the support line 107. This process of continuously adjusting the position or vector of the UAV 104 can occur, for example, while the mother ship 808 is moving such that both the UAV 104 and the mother ship 808 rotate in opposite directions. Thus, since the mother ship 808 moves without the need to change the flight pattern of the mother ship 808, the UAV 104 can acquire any position within the envelope while the envelope is moving. The maximum circumference of the holding pattern that the mother ship 808 can maintain while the UAV 104 maintains a stationary position with respect to the fixed reference point may be defined by the maximum length of the support line 107.

[0047] FIG. 11 shows one aspect of the present disclosure in which a single UAV 104 can be connected to multiple mother ships. In this figure, the UAV 104 is supported by a first mother ship 808a and a second mother ship 808b via a first support line 808a and a second support line 808b, respectively. Each of the support line 808a and the support line 808b can be operated by a single winch system or a plurality of winch systems. The lengths of the first support line 808a and the second support line 808b can be adjusted in cooperation with the thruster system of the UAV 104 and in cooperation with the flight patterns of the first mother ship 808a and the second mother ship 808b during the operation of the suspended aerial vehicle system. The UAV 104 can acquire substantially any position within the respective envelopes of the mother ships 808a and 808b.

[0048] FIG. 12 shows a block diagram of a control system that can coordinate the operation of support line 107 and thrust engine 1207 to position UAV 104 at a desired position and / or orientation within the envelope. The system controller may include a controller 1203 that receives various command inputs such as the desired position of UAV 104. Controller 1203 may determine the necessary adjustments to be made to the length of support line 107 via winch actuation 1212 and thrust engine 1207 to move UAV 104 from its initial position to the desired position. Controller 1203 may instruct the individual thrusters or thruster assemblies within thrust engine 1207 to generate thrust in the desired direction and magnitude to acquire any position and orientation of UAV 104. As a result, the first thruster or the first thruster assembly may have a first direction and / or a first magnitude, and the second thruster or the second thruster assembly may have a second direction and / or a second magnitude. Also, it is contemplated that the orientation of the thrust generated by thrust engine 1207 with respect to UAV 104 may be static. The orientation of UAV 104 may be changed by varying the thrust generated by the individual thrusters on UAV 104, as well as by varying the tension through support line 107, or by a combination of spooling support line 107 and varying the thrust. Decreasing or increasing the tension within support line 107 may also serve other purposes. For example, when UAV 104 is moving along a complex route, there may be no direct line of sight between UAV 104 and the anchor point. In this case, UAV 104 may require more "slack" within support line 107, and thus, controller 1203 may decrease the tension within support line 107.

[0049] In one embodiment where the suspended aerial vehicle system includes the mother ship 808, the thrust engine 1207 may include thrusters mounted on the mother ship 808. In that case, the system controller 1203 may control the UAV 104 and the thrusters mounted on the mother ship 808 in a coordinated manner. Thus, the system controller 1203 may coordinate the operation of the thrust of the mother ship and the thrust of the UAV 104, as well as the change in the length of the support line 107. When the system controller 1203 coordinates the variations in the length of the support line 107, the thrust attributes of the mother ship 808, and the thrust attributes of the UAV 104, such coordination also includes not changing the length of the support line 107, the thrust attributes of the mother ship 808, and the thrust attributes of the UAV 104 if the system controller 1203 determines that it is desirable not to change the combination of these attributes. Further, it will be understood that this includes scenarios where it is desirable for the thrust generated from at least one of the UAV 104 and the mother ship 808 to be zero. For example, the system controller 1203 may dynamically manipulate the length of the support line 107 in response to changes in the position of the UAV 104 to maintain the tension of the support line 107 and prevent jerking of the UAV 104. Simultaneously or in parallel, the system controller 1203 may dynamically manipulate the thrust conditions of the mother ship and / or the UAV 104 to obtain the desired position and orientation of the UAV 104.

[0050] The system controller 1203 may receive feedback (``sensor data'') from the sensor 1216. The sensor data may serve any of several purposes, such as optimizing the total energy output by the suspended aerial vehicle system and performing closed-loop control while positioning the UAV 104. For example, the sensor data may enable the controller 1203 to calculate the optimal lift direction and magnitude that may be generated by the thrust engine 1207 with respect to the lift direction and magnitude generated by the support line 107 as a function of the length of the support line 107 being used, and / or the relative orientation of the support line 107 and / or the UAV 104. The sensor 1216 may measure attributes of the UAV 104 and the support line 107, such as the tension of the support line 107 and measurements of the force profile and inertia of the UAV 104. The sensor 1216 may measure the flight attributes of the mother ship 808. Sensor feedback from the mother ship 808 and the UAV 104 may be used during operation of the suspended aerial vehicle system to coordinate the respective flights of the mother ship 808 and the UAV 104 while they are connected by the support line 107. These attributes are considered to be measurable or estimable indirectly. The system controller 1203 may determine the optimal angle of the support line 107, as well as the angle and magnitude of the thrust, using various inputs. For example, the suspended aerial vehicle system may include a wind sensor that calculates the direction and magnitude of the gust. The system controller 1203 may instruct the thrust engine 1207 to generate reverse thrust to substantially cancel the effect of the wind at the position of the UAV 104. The support line 107 may bear most of the vertical load of the UAV 104 to enable the thrust engine 1207 to generate lateral thrust due to gust loads. The sensor 1216 may provide other data related to the operation of the system that may be used by the controller 1203 to instruct the winch actuator 1212 and the thrust engine 1207. For example, an optical sensor may be used to determine whether there are obstacles in the flight path and, if so, what alternative flight paths are conceivable.Sensor 1216 can be embodied as a single sensor or multiple sensors and can measure attributes related to the operation of the system while being located within the system, adjacent to the system, or away from the system.

[0051] FIG. 13 shows a flowchart of the operation of the suspended aerial vehicle system when repositioning the UAV 104 from an initial position to a desired position. In step 1306, the controller 1203 may determine a flight path for moving the UAV 104 from the initial position to the desired position. The controller 1203 may receive the desired position as an input. Also, the controller 1203 may receive or determine the initial position of the UAV 104. Determining the flight path may include determining the optimal length of the support line 104 and the angle and magnitude of the optimal thrust.

[0052] The controller 1203 may instruct the support line 107 to adjust in step 1307, while on the other hand, the controller 1203 may instruct the thrust engine 1207 in step 1309 so that the length of the support line 107 and the thrust engine 1207 are adjusted in a coordinated manner. This may be related to the operation of the thruster in step 1315 and the operation of the support line in 1312, and this may also occur in a coordinated manner.

[0053] In step 1319, the controller 1203 determines when the UAV 104 reaches the desired position and may instruct the support line 107 and the thrust engine 1207 to adjust to maintain the position of the UAV 104. However, the controller 1203 may end the loop. The adjustment of the support line 107 and the thrust engine 1207 can be performed based on time, that is, the controller 1203 can determine the optimal length of the support line 107, as well as the optimal angle and magnitude of the thruster, at some or substantially all points along the flight path, such as to ensure a smooth flight experience or to navigate a complex flight path.

[0054] Step 1331 shows how the controller 1203 can receive feedback from sensors 1216 and the like. The controller 1203 can determine the optimal length of the support line 107, the angle and magnitude of the thrust "in real time". That is, the controller 1203 can optimize the operation of the suspended aerial vehicle system in a coordinated manner using feedback from the system periodically or continuously. For example, the controller 1203 can determine the optimal flight when the UAV 104 is in transit using data from the sensor 1216. In step 1335, the controller 1203 can utilize feedback from the sensor 1216 to continuously adjust the length of the support line 107 and the thrust angle and magnitude until the controller 1203 determines that the UAV 104 has reached the desired position.

[0055] Other types of feedback can be received during step 1331 and utilized by the controller 1203 while instructing the operation of the suspended aerial vehicle system. The feedback can be received from any number of wired or wireless sources that the controller 1203 can communicate with, such as a command center, a second drone, and a transceiver. For example, the controller 1203 can receive weather data that may affect the flight path of the suspended aerial vehicle system. The controller 1203 can utilize the weather data when developing a new flight path.

[0056] As shown in the selective step 1301, FIG. 13 further includes steps for the operation of a suspended aerial vehicle system including the mother ship 808. The controller 1203 may receive the desired position of the UAV 104 as an input. Step 1302 indicates that the controller may determine the approaching position of the mother ship 808, and the approaching position is the position of the mother ship 808 that enables the UAV 104 to reach the desired position when the UAV 104 is deployed. In step 1303, the controller 1203 may determine the flight path of the mother ship 808 to move the mother ship 808 from its initial position to the approaching position. Also, the controller 1203 may receive or determine the initial position of the mother ship 808. Determining the flight path of the mother ship 808 may include determining an optimized path between the initial position and the approaching position of the mother ship 808. The optimized route can balance the moving speed, flight time, use of long-range and short-range flight devices, obstacles, energy efficiency, desired entry angle, and other factors affecting the flight of the mother ship. When the mother ship 808 substantially reaches the approaching position, the controller 1203 may instruct the mother ship to hover or turn. Next, as shown in step 1304, the controller 1203 may instruct the UAV 104 to be deployed from the mother ship 808. Also, the UAV 104 may be deployed from the mother ship 808 at any point during the passage of the mother ship 808. Once deployed, the UAV 104 may reach the destination using the method outlined here.

[0057] Various aspects of the process outlined in FIG. 13 may be performed by one or more human users. For example, a remote operator may determine the route of the mother ship and coordinate the flight of the mother ship, such as by remotely operating the mother ship. Similarly, the remote operator may control the deployment of the UAV 104 and the flight of the UAV 104 to operate the winch system.

[0058] System controller 1203 can be embodied, at least in part, as a computing device having one or more embedded or general-purpose processors, computers, processing devices, or memories. Further, system controller 1203 can be partially embodied as various functional and / or logical (e.g., computer-readable instructions, code, devices, circuits, processing circuits, etc.) elements that are implemented or operate to perform aspects of the embodiments described herein. System controller 1203 can be mounted and fixed or connected within any member of the suspended aerial vehicle system. Further, system controller 1203 can be located remotely from the system or, alternatively, can communicate directly or indirectly with the system.

[0059] System controller 1203 can include a processor, a memory, a storage device, and an input / output (I / O) device. Some or all of the components can be interconnected via a system bus. The processor can be single-threaded or multi-threaded and can have one or more cores. The processor can execute instructions such as instructions stored in the memory and / or storage device. Information can be transmitted and received using one or more of the I / O devices.

[0060] The memory can store information and can be a computer-readable medium such as volatile or non-volatile memory. The storage device can provide storage for the computer system and can be a computer-readable medium. In various embodiments, the storage device can be one or more of a flash memory device, a hard disk device, an optical disk device, a tape device, or any other type of storage device.

[0061] The I / O device can provide input / output operations to the computer system. The I / O device can include a keyboard, a pointing device, and / or a microphone. The I / O device can further include a display unit for displaying a graphical user interface, a speaker, and / or a printer. External data can be stored in one or more accessible external databases.

[0062] The features of the embodiments described in this specification may be implemented in digital electronic circuitry, and / or in computer hardware, firmware, software, and / or combinations thereof. The features of the embodiments may be implemented as a computer program product embodied in a machine-readable storage device, such as for execution by a programmable processor, and / or as a propagated signal, because the features of the embodiments are performed by a programmable processor executing an instruction program to operate on input data and generate output. The embodiments of the steps of the method may be performed by a programmable processor executing an instruction program to perform the functions of the described implementation by operating on input data and generating output.

[0063] The features of the embodiments described herein may be implemented in one or more computer programs executable in a programmable system including at least one programmable processor coupled to receive data and / or instructions from, and to transmit data and / or instructions to, a data storage system, at least one input device, and at least one output device. A computer program may include a series of instructions for use directly or indirectly in a computer to perform a particular activity or to cause a particular result. The computer program may be written in any form of programming language including compiled or interpreted languages and may be deployed as a stand-alone program or in any form including as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0064] Processors suitable for executing command programs can include, for example, both general-purpose processors and dedicated processors, and / or a single processor of any type of computer, or one of a plurality of processors. Generally, a processor can receive instructions and / or data from a read-only memory (ROM), or a random access memory (RAM), or both. Such a computer can include a processor for executing instructions and one or more memories for storing instructions and / or data.

[0065] Generally, a computer can include one or more mass storage devices for storing data files, or can be operably connected to communicate with such mass storage devices. Such devices can include magnetic disks such as internal hard disks, and / or removable disks, magneto-optical disks, and / or optical disks. Storage devices suitable for specifically embodying computer program instructions and / or data can include, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and any form of non-volatile memory such as CD-ROM and DVD-ROM disks. The processor and memory can be complemented or incorporated by one or more ASICs (application-specific integrated circuits).

[0066] To provide interaction with a user, the features of this embodiment can be implemented on a computer having a display device such as an LCD (liquid crystal display) monitor for displaying information to the user. The computer can further include a pointing device such as a keyboard, mouse or trackball, and / or a touch screen through which the user can provide input to the computer.

[0067] The features of this embodiment can be implemented in a computer system that includes backend components such as a data server, and / or middleware components such as an application server or an Internet server, and / or frontend components such as a graphical user interface (GUI) and / or an Internet browser, or any combination thereof. The components of the system can be interconnected by any form or medium of digital data communication such as a communication network. Examples of communication networks can include, for example, LAN (Local Area Network), WAN (Wide Area Network), and / or the computers and networks that form the Internet.

[0068] A computing system can include a client and a server. The client and the server can be remote from each other and can interact via a network as described herein. The relationship between the client and the server can arise by computer programs being executed on their respective computers and having a client-server relationship with each other.

[0069] FIG. 14 shows an aspect of the present disclosure in which the UAV 104 includes a payload attachment mechanism 1426, whereby the UAV 104 can be connected to a payload. In the illustrated embodiment, the payload attachment mechanism 1426 includes a platform 1428 that can be fixed to the payload. The payload attachment mechanism 1426 can include a bracket 1433, such as a rotary bearing or a flexure, that can be attached to the platform 1428, whereby the axle 117 can be fixed within the bracket 1433 and substantially connected to the platform 1428. By the bracket 1433, the axle 117 can be rotatable relative to the platform 1428 about a single axis or multiple axes.

[0070] Platform 1428 may include means for gripping a payload and then releasing the payload at a specified location based on a signal or other release indicator. For example, a user may clip the payload to platform 1428 using a latch (not shown) included in or connected to platform 1428. The latch may release the payload when UAV 104 arrives at the delivery point. Other forms of gripping the payload are also possible. For example, platform 1428 may include means for non-contact attachment, such as a magnetic attachment system.

[0071] Platform 1428 can utilize a connection system in which a latch on the platform 1428 can interact with an interface on the payload. The connection system can be operated remotely. That is, the pilot can determine when UAV 104 arrives at the delivery point and instruct UAV 104 to retract the latch so that the payload is separated from UAV 104 and placed at the delivery point. The connection system can operate autonomously or without human intervention. For example, UAV 104 can determine that it is at the delivery point from GPS positioning or machine vision, etc., release the latch of the payload, and leave the payload at the delivery point. Similarly, the payload can be retrieved using UAV 104 by sending UAV 104 to a specified location. Here, platform 1428 may be able to protect this payload. In one aspect, platform 1428 may include a housing such that the payload can be fixed within the housing before flight.

[0072] Platform 1428 can be connected to the axle 117 of the UAV 104, whereby the platform 1428 can rotate independently of the UAV 104. In one aspect of the present disclosure, the payload attachment mechanism 1426 may further include means for achieving additional degrees of freedom of rotation, position, and / or translation of the payload. For example, the payload attachment mechanism 1426 may include a gimbal mechanism 1436 that connects the platform 1428 to the payload. Also, the gimbal mechanism 1436 can be a slider mechanism. The additional degrees of freedom of the payload with respect to the platform 1428 can be achieved passively or actively. The payload attachment mechanism 1426 may include means for connecting the platform 1428 and the UAV 104 such that the platform 1428 and the UAV 104 do not come into direct contact. For example, a second support line can connect the platform 1428 and the UAV 104, whereby, for example, the platform 1428 can be suspended independently of the orientation of the UAV 104. In this figure, the gimbal between the UAV 104 and the payload enables the payload to be accurately positioned such that the payload can maintain a neutral orientation while the UAV 104 is tilted, since the payload can be positioned independently of the net thrust vector of the assembly.

[0073] In one aspect of the present disclosure, a suspended aerial vehicle system can be equipped for specific functional uses. The UAV 104 can be attached to a functional module designed to enable the suspended aerial vehicle system to engage in a specific task or range of tasks. For example, it may be desirable to use the suspended aerial vehicle system to perform cleaning in hard-to-access locations such as, for example, high-rise windows, wind turbine blades, and solar panels. In this case, as shown by FIG. 15, the module can include software, firmware, and / or hardware that enables the suspended aerial vehicle system to access and perform cleaning. For example, a cleaning module can include cleaning hardware such as a soap reservoir, a water reservoir, and a squeegee, or other cleaning tools such as a pressure cleaning mechanism. The cleaning module can also optionally include a mechanism, such as a suction cup that is selectively actuated, that enables the UAV 104 to maintain contact with the surface. The UAV 104 can be carried to an appropriate height above the surface to be cleaned through the coordination of the support line 107 and the thruster during operation. It may be desirable to utilize an anchor point 203 located above the desired cleaning position, such as near the top of a building. In the illustrated example, the anchor point 203 is fixed to an extended pole located at the top of the building. The UAV 104 can instruct the thruster to generate a force in a direction that enables the UAV 104 to contact the window cleaning module with the surface while the support line supports the necessary amount of the weight of the UAV 104. The suspended aerial vehicle system can operate the cleaning module to perform the tasks necessary to clean the surface to a clean state.

[0074] Another example of a functional module could be a disassembly and disposal module. The disassembly and disposal processing module can include tools used by an explosive removal robot, such as, for example, a machine vision-enabled camera, an operating arm, and explosive neutralization means. The UAV 104 can descend over a suspect device, determine whether the device poses a threat, and if so, disable the suspect device.

[0075] In some embodiments, the UAV 104 may not include a platform. Instead of having means for providing an interchangeable function for the UAV 104, the functional modules may be directly connected to other elements of the UAV 104 so that they can be designed for a specific function. For example, in a configuration where a suspended aerial vehicle system is configured to address a fire, the UAV 104 may have a direct and / or permanent connection to a fire hose.

[0076] FIG. 16 shows an example where an aerial vehicle system is configured to clean and / or maintain a photovoltaic (PV) array system. The mother ship 808 can arrive near the PV system and enter a standby pattern. Alternatively, when the suspended aerial vehicle system does not carry the mother ship 808, such as when the anchor point 203 is fixed in a stationary area, the suspended aerial vehicle system may have a fixed anchor point 203 disposed above the PV system. The UAV 104 can be deployed on the first PV panel. The UAV 104 may include a functional module for cleaning the PV system, such as a functional module similar to the window cleaning module described. When the UAV 104 finishes cleaning the first PV panel sufficiently, the UAV 104 can move to the second PV panel and start cleaning the second PV panel. This process can continue until the PV array system is sufficiently cleaned. A single mother ship or anchor point 203 can be attached to multiple UAVs, such that each of the multiple UAVs can be engaged in cleaning the PV array system. This has the effect of increasing the efficiency of cleaning and simultaneously shortening the total time taken for cleaning.

[0077] In one aspect of the present disclosure, as shown in FIG. 17, a suspended platform can be utilized for payload delivery. The payload can be attached to the UAV 104. The payload can be protected by a platform 1428 that may occur manually or autonomously. The payload can be attached to the UAV 104 at a launch point. The launch point, such as a warehouse or a logistics relay point, can be pre-determined. The payload can be attached to the ground UAV 104 while the UAV 104 is docked to the mother ship 808. When the mother ship 808 is present in the air with the payload, the mother ship 808 can cruise on a route including a drop-off point, as shown in FIG. 17A.

[0078] FIG. 17B shows that the mother ship 808 can deploy the UAV 104 when the mother ship 808 is near the drop-off point. This may include the mother ship 808 transitioning from a flight mode to a hovering mode. As shown in FIG. 17C, the UAV 104 can fly to the drop-off point using the process outlined previously, disengage from the payload, and leave the payload at the drop-off point. The UAV 104 can be called back to the mother ship 808.

[0079] As shown from FIGS. 17D to F, the system can use this process in reverse to retrieve the payload from a recovery point. Similarly, the system can be used to obtain the payload from a recovery point and deliver it to a drop-off point.

[0080] The ability of the UAV 104 to navigate in narrow spaces while delivering a payload is shown in FIG. 18. In this example, the suspended aerial vehicle system can deliver a payload to, or retrieve a payload from, a balcony that may be partially or substantially enclosed by, for example, an overhang. The suspended aerial vehicle system can similarly access payload sites and payload storage devices such as specific payload sites and parcel lockers through its ability to deliver and retrieve payloads from narrow spaces. The payload sites and payload storage devices can be any, or all, of the characteristics associated with automated systems, manual systems, stationary systems, and mobile systems.

[0081] It should be understood that the foregoing examples of the functions provided herein are not intended to be limiting. The UAV 104 can be configured to provide other types of functions without departing from the scope of the present invention.

[0082] Although specific embodiments are described and shown in the accompanying drawings, these are merely illustrative of the broad invention and not limiting, and it will be understood that the invention is not limited to the specific structures and arrangements shown and described, as various other modifications can occur to those skilled in the art.

Claims

1. 1. An underslung aerial vehicle system, comprising: The mother ship and an airborne vehicle physically connected to the mother ship; and a controller configured to coordinate thrust characteristics of the mother ship and thrust characteristics of the airborne vehicle.

2. The suspended aerial vehicle system of claim 1 , wherein the mother ship is airborne.

3. The suspended airborne vehicle system of claim 2 , wherein the mother ship has the lifting surfaces of a fixed wing aircraft and the thrusters characteristic of a rotary wing aircraft.

4. The suspended aerial vehicle system of claim 1 , wherein the aerial vehicle is physically connected to the mother ship by a support line.

5. The suspended aerial vehicle system of claim 4 , wherein the mother ship supports at least a portion of the weight of the aerial vehicle via the support lines.

6. 5. The suspended aerial vehicle system of claim 4, wherein the support lines are part of a winch system operable to adjust the length of the support lines.

7. The suspended aerial vehicle system of claim 6 , wherein the controller is further configured to coordinate operation of the winch system.

8. 8. The suspended aerial vehicle system of claim 7, wherein coordinating the mother vessel, the airborne vehicle, and the winch system includes varying various characteristics of thrust generated by thrusters mounted on the airborne vehicle, varying a length of the support lines, and managing a flight pattern of the mother vessel.

9. The suspended aerial vehicle system of claim 1 , further comprising a dock located on said mother vessel providing a connection between said mother vessel and said aerial vehicle.

10. The suspended aerial vehicle system of claim 1 , further comprising a second aerial vehicle physically connected to said mother ship.

11. 1. A method for transporting a payload, comprising: transmitting a mother vessel to an approaching location, the mother vessel having an airborne vehicle in a dock located at the mother vessel; deploying the airborne vehicle; and and decoupling the payload from the airborne vehicle at a drop-off point or picking up the payload when the airborne vehicle is at a pick-up point.

12. 12. The method for transporting a payload as described in claim 11, further comprising retrieving the airborne vehicle to the mother ship by varying thrust engines located on the airborne vehicle and varying the length of the support lines in coordination therewith until the airborne vehicle is located at the dock.

13. 12. The method for transporting payloads as recited in claim 11, wherein the airborne vehicle is connected to the mother ship by a support line whose length is adjusted by a winch system.

14. 12. The method for transporting payloads as described in claim 11, wherein deploying the airborne vehicle includes releasing the airborne vehicle from the dock and varying thrust engines located on the airborne vehicle and adjusting the length of the support lines in coordination therewith until the airborne vehicle is positioned at the drop-off point or the pick-up point.

15. 1. A system for controlling an underslung aerial vehicle system, comprising: A controller, transmitting a mother ship having an airborne vehicle docked at the mother ship to an approach location; Deploying the airborne vehicle; and A system for controlling an underslung aerial vehicle system, comprising a controller configured to: decouple a payload from the aerial vehicle at a drop-off point or pick up a payload if the aerial vehicle is at a pick-up point.

16. 20. The system for controlling a suspended aerial vehicle system as described in claim 15, further configured to retrieve the aerial vehicle to the mother vessel.

17. 16. The system for controlling a suspended aerial vehicle system as described in claim 15, wherein the aerial vehicle is connected to the mother vessel by a support line whose length is adjusted by a winch system.

18. 16. The system for controlling a suspended aerial vehicle system of claim 15, wherein deploying the aerial vehicle includes releasing the aerial vehicle from the dock and varying thrust engines located on the aerial vehicle and adjusting the length of the support lines in coordination therewith until the aerial vehicle is positioned at a drop-off or pick-up point.

19. 1. An underslung aerial vehicle system, comprising: an airborne vehicle having a thruster configured to generate a directionally focused thrust; a support line attached at a first end to a load point of the aerial vehicle and positioned to be capable of supporting at least a portion of a weight of the aerial vehicle.

20. 20. The suspended aerial vehicle system of claim 19, wherein the support wire is attached to an anchor point at a second end of the support wire.

21. 20. The suspended aerial vehicle system of claim 19, further comprising a mechanical device connected to the support wires and capable of varying a length or tension of the support wires.

22. 22. The suspended aerial vehicle system of claim 21, wherein the mechanical device is a winch system.

23. 23. The suspended aerial vehicle system of claim 22, wherein the winch system includes a winch located near an anchor point.

24. 22. The suspended aerial vehicle system of claim 21, further comprising a controller that directs the mechanical device to manipulate the support lines and thrusters to position the aerial vehicle at a desired location.

25. 25. The suspended aerial vehicle system of claim 24, wherein the manipulation of the support lines and the manipulation of the thrusters are performed in a coordinated manner.

26. 20. The suspended aerial vehicle system of claim 19, wherein the aerial vehicle is an unmanned aerial vehicle.

27. 20. The suspended aerial vehicle system of claim 19, further comprising a second support wire attached to the load point of the aerial vehicle at a first end of the second support wire and positioned to support at least a portion of a weight of the aerial vehicle.

28. 1. A system for controlling an underslung aerial vehicle system, comprising: A controller, receiving information regarding a desired position of an airborne vehicle; determining a flight path for the airborne vehicle; determining an adjustment that needs to be made to a length of support wire attached to the aerial vehicle; determining adjustments that need to be made to thrusters of the airborne vehicle; 1. A system for controlling a suspended aerial vehicle system comprising: a controller configured to coordinate manipulation of the support lines by a mechanical device and manipulation of the thrusters to position the aerial vehicle at a desired location.

29. 30. The system for controlling a suspended aerial vehicle system of claim 28, wherein the flight path can be determined continuously.

30. 30. The system for controlling a suspended aerial vehicle system as described in claim 29, wherein the flight path consists of a series of incremental positions along a path between a current position of the aerial vehicle and the desired position, and adjustments that need to be made to lengths of support lines attached to the aerial vehicle and adjustments that need to be made to thrusters of the aerial vehicle are adjustments necessary to move the aerial vehicle from a first incremental position to a second incremental position.

31. 30. The system for controlling a suspended aerial vehicle system of claim 28, wherein determining the flight path further comprises periodically using feedback to determine adjustments that need to be made to lengths of support lines attached to the aerial vehicle and adjustments that need to be made to thrusters of the aerial vehicle.

32. 30. The system for controlling a suspended aerial vehicle system of claim 28, wherein manipulating the support lines includes directing a mechanical device to change a length or tension of the support lines.

33. A means for controlling an underslung aerial vehicle, comprising: Determining a flight path for an airborne vehicle; determining an adjustment that needs to be made to a length of support wire attached to the aerial vehicle; determining adjustments that need to be made to thrusters of the airborne vehicle; and coordinating manipulation of the support lines and thrusters by a mechanical device to position the aerial vehicle at a desired location.

34. 34. The means for controlling a suspended aerial vehicle of claim 33, wherein the flight path can be determined continuously.

35. 35. The means for controlling a suspended aerial vehicle as described in claim 34, wherein the flight path consists of a series of incremental positions along a path between a current position of the aerial vehicle and the desired position, and adjustments that need to be made to lengths of support lines attached to the aerial vehicle and adjustments that need to be made to thrusters of the aerial vehicle are adjustments necessary to move the aerial vehicle from a first incremental position to a second incremental position.

36. 34. The means for controlling a suspended aerial vehicle of claim 33, wherein determining the flight path further comprises periodically using feedback to determine adjustments that need to be made to lengths of support lines attached to the aerial vehicle and adjustments that need to be made to thrusters of the aerial vehicle.

37. 34. The means for controlling a suspended aerial vehicle of claim 33, wherein manipulating the support lines includes directing a mechanical device to change a length or tension of the support lines.

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