Suspended aerial vehicle system, method for transporting a payload, and system for controlling a suspended aerial vehicle system

Abstract

A suspended aircraft system includes a mothership and an aircraft physically connected to the mothership, wherein the aircraft is physically connected to the mothership via a support line. The suspended aircraft system also includes a multi-winch system having two or more winches, wherein the multi-winch system is actuated to adjust the length of one of the support lines. Additionally, the suspended aircraft system may include a controller configured to coordinate a distance between the aircraft and the mothership based on the length of the support line. The invention further includes a method for transporting a payload.

Description

[Technical Field]

[0001] Hereinafter, one aspect of the present invention relates to an aircraft, and more specifically, one aspect of the present invention relates to an aircraft having multiple winches that coordinate one or more tethers or support lines. Other aspects are also described. [Previous Technology]

[0002] Avionics has benefited greatly from recent innovations in batteries and the miniaturization of complex electronic devices, such as processors. One of the most expanded segments in the field (both among hobbyists and for professional use) is small unmanned aerial vehicles, often referred to as target drones or portable cameras. This emerging technology has found creative applications in a variety of fields, such as photography, military, wildlife conservation, and construction.

[0003] Unmanned target drone technology still faces development challenges that need to be overcome as future applications are developed and explored. For example, the travel distance of unmanned target drones continues to involve trade-offs between factors such as size, battery cost, mechanical failure, and noise generation. These considerations are particularly important in applications where unmanned target drones may operate in dense urban environments or carry heavy payloads (such as package delivery) over long distances. These factors are especially relevant in convincing a regulatory authority that a system developed is feasible and safe. Conventional solutions continue to focus on managing trade-offs between distance, size, and maneuverability. [Summary of the Invention]

[0004] One aspect of the present invention relates to an aircraft having multiple winches, the multiple winches being extended by one or more tethers or support lines connected to the aircraft. This suspended aircraft system with multiple winches provides an alternative solution to current challenges in the field of unmanned target drones, preventing functional impairments or inoperability attributable to mechanical failures, while also providing other benefits such as extended flight time and higher payload capacity compared to conventional unmanned target drone offerings.

[0005] In one embodiment, one or more tethers or support lines are attached to a load point on the aircraft. These support lines can be configured to support the weight of the aircraft and distribute that weight to a "grounded" anchor point located outside the aircraft. For example, the support line can be connected to a multi-winch system including two or more winches capable of being wound into the support line, thus increasing tension within the support line and potentially pulling the aircraft toward the winch system. In other embodiments, the anchor point can be located inside the aircraft. In this invention, a tether and a support line are interchangeable.

[0006] In one embodiment, the aircraft may have a multi-winch system comprising one or more winches, wherein each winch may include one or more motors. For example, in a dual-winch system, a first winch and a second winch may work together to lower or raise the aircraft. In any of these embodiments, the aircraft may be attached to a payload that can be transported and / or released to a desired location or a drop position. In the event that one of the winches fails due to a mechanical or operational malfunction, the multi-winch system may still continue to operate using one winch. Therefore, even if one of the winches has a mechanical or operational malfunction, having two or more winches eliminates a single point of failure in any given multi-winch system. This allows a multi-winch system with one winch failure to continue operating and functioning with the same capability as if one of the winches were not malfunctioning.

[0007] In any embodiment, the aircraft may be connected to another vehicle via the support line entity. For example, the other vehicle may be one of the aircraft configured as a "mothership," which allows the mothership to bear at least a portion of the weight of the aircraft. The mothership may have the characteristic of improving the efficiency of long-duration flight, thereby giving the system the benefits of a large aircraft while maintaining the accessibility provided by a small aircraft.

[0008] The multi-winch system can also be configured for specific functions. For example, the multi-winch system may be able to support the attachment of an aircraft to a payload, release a payload, clean remote surfaces, dismantle weapons, or any other various functions enabled by the benefits provided by the multi-winch system.

[0009] In some embodiments, the technology described herein relates to a suspended aircraft system comprising: a mothership; an aircraft physically connected to the mothership, wherein the aircraft is physically connected to the mothership via a support line; a winch system comprising two or more winches, wherein the winch system is actuable to adjust the length of one of the support lines; and a controller configured to coordinate a distance between the aircraft and the mothership based on the length of the support line.

[0010] In some cases, the technology described herein relates to a suspended aircraft system in which the mothership is capable of flight.

[0011] In some embodiments, the technology described herein relates to a suspended aircraft system, wherein the mothership has the lifting surface of a fixed-wing aircraft and the propulsion characteristics of a rotorcraft.

[0012] In some cases, the technology described herein relates to a suspended aircraft system in which the aircraft is connected to the mother ship by a support line entity.

[0013] In some embodiments, the technology described herein relates to a suspended aircraft system in which the mother ship supports at least a portion of the weight of the aircraft via the support line.

[0014] In some embodiments, the technology described herein relates to a suspended aircraft system in which the support line is actuated to adjust the length of the support line in a portion of the winch system.

[0015] In some embodiments, the technology described herein relates to a suspended aircraft system, which further includes a docking station located on the mothership and connected between the mothership and the aircraft.

[0016] In some embodiments, the technology described herein relates to a suspended aircraft system, which further includes a second aircraft physically connected to one of the motherships.

[0017] In some embodiments, the technology described herein relates to a suspended aircraft system in which each of the two or more winches includes one or more pulleys, and wherein the one or more pulleys assist in the release and reeling in of the support line.

[0018] In some cases, the technology described herein relates to a suspended aircraft system in which two or more winches operate in coordination.

[0019] In some embodiments, the technology described herein relates to a suspended aircraft system in which the aircraft is attached to a load and the support line runs through the load.

[0020] In some embodiments, the technology described herein relates to a suspended aircraft system in which one of the two or more winches is inoperable and self-locking allows the two or more winches that are not malfunctioning to continue to operate.

[0021] In some cases, the technology described herein relates to a suspended aircraft system in which the controller is further configured to coordinate the actuation of the winch system.

[0022] In some embodiments, the technology described herein relates to a suspended aircraft system comprising: a mothership; an aircraft connected to the mothership by a support line entity; a winch system comprising a plurality of winches, wherein the winch system is configured to adjust the length of one of the support lines; and a controller configured to: receive an indication that one or more of the plurality of winches are locked; and based on the indication, adjust a distance between the mothership and the aircraft using one or more of the remaining winches of the plurality of winches without using the locked one or more of the plurality of winches.

[0023] In some embodiments, the technology described herein relates to a suspended aircraft system in which the controller is further configured to adjust the control commands transmitted to the one or more remaining winches of the plurality of winches based on the locking of one or more of the plurality of winches.

[0024] In some embodiments, the technology described herein relates to a suspended aircraft system in which the controller is further configured to avoid transmitting control commands to one or more of the locked winches.

[0025] In some embodiments, the technology described herein relates to a suspended aircraft system in which the controller is further configured to resume transmitting control commands to one or more of the locked winches in response to receiving an indication that the winch is no longer locked.

[0026] In some cases, the technology described herein relates to a suspended aircraft system in which one or more of the winches are configured to self-lock after a triggering condition is detected.

[0027] In some cases, the technology described herein relates to a suspended aircraft system in which one or more of the winches are configured to provide the instruction to the controller.

[0028] In some embodiments, this document describes a method for transporting a payload, comprising: dispatching a mother ship to a launching position, the mother ship having an aircraft in a docking seat located on the mother ship, wherein the aircraft carries a payload; deploying the aircraft at the launching position using a winch system, wherein the winch system includes a first winch and a second winch; activating the first winch and the second winch to release a launching length of a support line; determining that the launching length of the support line between the aircraft and the mother ship satisfies a minimum launching distance; and, in response to determining that the launching length of the support line between the aircraft and the mother ship satisfies the minimum launching distance, stabilizing the aircraft. The system determines that a payload drop height meets a minimum payload drop height; in response to the determination that the payload drop height meets the minimum payload drop height, it cancels the first winch and the second winch; it releases the payload, wherein the release of the payload restarts the first winch and the second winch to retrieve the line to a docking length of one of the support lines between the aircraft and the mother ship; it determines that the docking length of the support line between the aircraft and the mother ship meets a minimum docking distance; in response to the determination that the docking length of the support line between the aircraft and the mother ship meets the minimum docking distance, it cancels aircraft stabilization; it docks the aircraft in the docking seat located on the mother ship; and it cancels the first winch and the second winch.

[0029] In some embodiments, the technology described herein relates to a method for transporting a load, wherein when one of the first winches or the second winches fails, the first winch or the second winch continues to operate, wherein the unfailed winch continues to operate to transport the load.

[0030] In some embodiments, the technology described herein relates to a method for transporting a load, wherein the winch system further comprises two or more winches in multiples of two.

[0031] In some embodiments, the technology described herein relates to a system for controlling a suspended aircraft system, comprising: a controller configured to coordinate the movement of a winch system including a first winch and a second winch; activating the first winch and the second winch via the controller to release a line to a casting length of a support line; releasing a load to a casting position via the controller; and deactivating the first winch and the second winch via the controller to retrieve the line to a docking length of the support line.

[0032] In some embodiments, the technology described herein relates to a system for controlling the suspended aircraft system, wherein the controller causes the first winch to rotate clockwise and the second winch to rotate counterclockwise to reduce the load.

[0033] In some embodiments, the technology described herein relates to a system for controlling the suspended aircraft system, wherein the controller causes the first winch to rotate counterclockwise and the second winch to rotate clockwise to raise the load.

[0034] In some embodiments, the technology described herein relates to a system for controlling the suspended aircraft system, wherein the winch system further comprises two or more winches in multiples of two.

Implementation Method

[0042] Any and all applications in which foreign or domestic priority applications were identified in the filing information at the time of filing are hereby incorporated by reference in accordance with 37 CFR 1.57.

[0043] This application claims priority to U.S. Provisional Patent Application No. 63 / 570,718, filed March 27, 2024, entitled “SUSPENDED AERIAL VEHICLE SYSTEM WITH MULTIPLE WINCHES”, the entire contents of which are hereby expressly incorporated by reference.

[0044] Several aspects of the invention will now be explained with reference to the accompanying drawings. Where the shape, relative position, and other aspects of a described part are not explicitly defined, the scope of the invention is not limited to the parts shown, which are intended for illustrative purposes only. Furthermore, although many details are set forth, it should be understood that some aspects of the invention can be practiced without such details. In other examples, well-known circuits, structures, and techniques have not been shown in detail to avoid obscuring the understanding of this description.

[0045] Embodiments of the present invention relate, in particular, to a suspended aircraft system having multiple winches. The suspended aircraft system having multiple winches may include an aircraft physically connected to a support line, wherein the support line may be anchored distally to an anchor point. In an exemplary embodiment, the aircraft system may include an unmanned aerial vehicle (UAV) attached to a support line, the support line connecting the UAV to an anchor point such that a first end of the support line is connected to the UAV. Although the present invention discusses applications where no onboard human pilot is present on the aircraft, it is conceivable that in the present invention, the aircraft may have an onboard pilot or human user without departing from the concept of the invention. The anchor point may comprise a multi-winch system to which the length of the deployed support line or winch line can be operatively varied. 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 mobile surface (such as a second aircraft or a mothership). In some embodiments, the multi-winch system may be used in conjunction with a spacecraft (e.g., a lighter-than-air vehicle). For example, the mothership described herein may be a spacecraft. In this invention, the term "aircraft" may be used interchangeably with the term "UAV".

[0046] Providing vertical lift to a UAV in the form of a multi-winch system amplifies the desired characteristics of the UAV, making it an ideal solution for a wide range of applications while addressing some of the core shortcomings of UAVs. The multi-winch system prevents complete malfunction of the UAV when one of the winches in the multi-winch system fails due to mechanical, electrical, or other UAV-related problems. For example, the undamaged winch in the multi-winch system can still operate to transport a payload to its target destination. Because the amount of thrust required to maintain a desired altitude is reduced or eliminated, the multi-winch system also allows for reduced energy consumption by the UAV.

[0047] Furthermore, the versatility of the system, which provides various types of anchor points and UAV functionality, allows for a wide range of applications. For example, a multi-winch system may include two or more winches. In one embodiment, if a UAV is assigned the task of placing prints at a designated placement point on an exterior window of a skyscraper, the multi-winch system may be anchored above the placement point. Additionally, the multi-winch system may support the UAV to stabilize it at the desired height. Furthermore, the multi-winch system may dynamically adjust the length of the support line to allow the UAV to traverse in a plane orthogonal to gravity.

[0048] UAVs can also be configured to perform services enabled by their ability to effectively navigate confined airspace. For example, a UAV may be able to deliver packages to a terrace that may be surrounding a protrusion and a narrow hull. This capability allows UAVs to perform deliveries in other ways in dense and confined urban environments. Examples of packages that can be delivered in this way include consumer goods, such as books, clothing, or electronics, from a warehouse, distribution center, or transit point. Other examples may include point-to-point deliveries, such as food, medical equipment, and pharmaceuticals. These examples are not limiting, as it is conceivable that a UAV may be able to pick up and deliver any goods that fall within the extended size and weight limits achievable by the system.

[0049] In this document, the terms "unmanned aerial vehicle" and "UAV" refer to any autonomous or semi-autonomous vehicle capable of performing certain functions without the need for a human pilot in the physical presence of a human being. Examples of flight-related functions may include (but are not limited to) sensing its environment or operating in the air without the need for input from (in particular) an operator.

[0050] A UAV can be autonomous or semi-autonomous. For example, some functions may be controlled by a remote human operator, while others are performed autonomously. Furthermore, a UAV can be configured to allow a remote operator to take over functions that can be autonomously controlled by the UAV in other ways. Additionally, a given type of function can be remotely controlled at one level of abstraction and autonomously performed at another. For example, a remote operator can control a UAV's high-level navigation decisions, such as specifying when the UAV should change position, while the UAV's navigation system autonomously controls finer-grained navigation decisions, such as route selection, obstacle avoidance, etc. Other examples are also possible.

[0051] A UAV can take various forms. For example, a UAV can be in the form of a rotorcraft, such as a helicopter or multi-rotor aircraft, a fixed-wing aircraft, a jet aircraft, a ducted fan aircraft, a lighter-than-air airship (such as a soft-bodied airship or a maneuverable balloon), a tail-seat aircraft, a glider, and / or an ornithopter, among other things. Furthermore, the terms "unmanned target drone," "aircraft system," "portable camera," "aircraft," "unmanned aerial vehicle system" ("UAVS"), "unmanned aerial system" ("UAS"), or similar terms can also be used to refer to a UAV. Moreover, the terms "winch system," "multiple winches," "winch," or similar terms can refer to a multi-winch system.

[0052] In a further embodiment, the UAV includes one or more communication systems. The communication systems may include one or more wireless interfaces and / or one or more wired interfaces, which allow the UAV to communicate via one or more networks. These wireless interfaces may provide communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11 protocol), LTE, WiMAX (e.g., an IEEE 802.16 standard), a radio frequency identification (RFID) protocol, near field communication (NFC), and / or other wireless communication protocols. These wired interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or a similar interface for communication via a single cable, a twisted pair, a coaxial cable, an optical link, a fiber optic link, or other physical connection to a wired network.

[0053] In one example embodiment, the UAV may include a communication system that allows both short-range and long-range communication. For example, the UAV may be configured for short-range communication using Bluetooth and long-range communication under a CDMA protocol. In this embodiment, the UAV may be configured to function as a "hotspot"; or in other words, as a gateway or proxy server between a remote support device and one or more data networks (such as cellular networks and / or the Internet). With this configuration, the UAV can facilitate data communication that the remote support device would otherwise be unable to perform on its own.

[0054] For example, a UAV may provide a WiFi connection to a remote device and act as a proxy server or gateway to a data network of a cellular service provider, the UAV being connected to such data network (e.g., under an LTE or 5G protocol). A UAV may also act as, in particular, a proxy server or gateway for a remote device to otherwise inaccessible high-altitude balloon network, a satellite network, or a combination of such networks.

[0055] One embodiment pertains to a support line connected to a UAV. The support line may be connected to the UAV at one of its first ends. The support line may be made of various materials. For example, if the support line needs to be flexible, it may comprise high tensile strength polymer fibers, metals and / or synthetic cables, ropes, and other materials exhibiting sufficient strength and flexibility. In another embodiment, the support line may be rigid, such that the distance between the first end of the support line and a second end of the support line is substantially fixed. In yet another embodiment, the support line may involve multiple rigid components, such as in a chain configuration or a telescopic rod configuration.

[0056] The support line may be connected to a point on the UAV designed to distribute some or all of the UAV's weight onto the support line. For example, the support line may be directly connected to a component of the UAV, such as a shaft or propulsion assembly. The support line may include a retaining ring at its first end, which may engage with a U-bolt attached to a component of the UAV, although similar attachment members are conceivable without departing from the concept of the invention. Alternatively, the support line may be connected to a specially designed support line attachment mechanism, which connects to a point on the UAV or to another component or components connected to the UAV. The support line may be attached to the UAV in a manner that allows for free rotational freedom relative to the propulsion assembly while maintaining the ability to bear some or all of the gravitational and inertial loads of the suspended aircraft system. For example, as illustrated, the support line may be connected to a rotary bearing on a shaft.

[0057] The support line may include a conduit connecting the UAV to a power or data source. For example, in an embodiment where at least a portion of the power distribution system is not "onboard" to the UAV, the conduit may transmit power to the UAV from a power source located outside the UAV (such as the second end of the support line). In this case, the conduit may include a cable connecting a battery located at the second end of the support line to an onboard power distribution system on the UAV. With careful consideration, an energy storage device may be located within the onboard power distribution system, in which case a power cable within the conduit may be used to charge the onboard energy storage device (such as a battery). In another example, the conduit may carry a data transmission line (e.g., for transmitting data-encoded electrical signals) formed of a conductive material and / or an optical fiber (e.g., for transmitting data-encoded optical signals). A central controller and / or operator (which may be located at the second end of the support line) may remotely control the operation of the UAV by sending commands to the UAV via a signal cable; the UAV may have an onboard processor. Similarly, UAVs can use signal cables to send sensor data back to the central controller and / or operator.

[0058] Figure 1A illustrates an example of a suspended aircraft system 100A with a multi-winch system. In one embodiment, the end of the support line 140 may be substantially connected to an anchor point 105 located outside the UAV 150. The anchor point 105 may be fixed to an external surface (such as a pole or roof of a building) such that the anchor point 105 cannot independently change its position relative to the external surface to which it is attached. The end of the support line 140 may be attached to the anchor point 105. For example, the anchor point 105 may be a hook screwed to an external surface, and a second end of the support line 140 may be fastened to the hook.

[0059] Anchor point 105 may include a mechanical device that allows variation in length or tension of support line 140 between a first end and a second end of support line 140. One example of such a mechanical device is a multi-winch system, which may include a first winch 110 and a second winch 115, each including one or more pulleys to pull (wind up) or unwind (reel in) support line 140 into a reel. When the reel is actuated by a motor, examples of winch types may include a shock-absorbing winch, a wake-skimming winch, a gliding winch, and an air winch. In any of these embodiments, UAV 150 may be attached to or connected to a load 155. One or more pulleys may also assist in the unwinding of support line 140. In some embodiments, UAV 150 may include one or more pulleys 142, 144 to assist in the take-up and release of the support line 140 connected to the first winch 110 and / or the second winch 115. For example, as shown in FIG1A, one or more pulleys 142, 144 of UAV 150 may assist in pulling in or releasing the support line 140. In some embodiments, one or more pulleys 142, 144 of UAV 150 may be powered pulleys (e.g., pulleys including a motor) to assist in positioning UAV 150. In other embodiments, pulleys 142, 144 may be passive pulleys that are unable to take in any additional line or support line at or near their respective locations. In some embodiments, pulleys 142, 144 may include motors smaller and / or faster than the motors at winches 110, 115. In these embodiments, the motors at winches 110 and 115 can be used for coarser adjustments to the support line 140, and the motors at pulleys 142 and 144 can be used for finer adjustments to the support line 140. By utilizing a multi-winch system, the load 155 can be transported and / or released to a target location. Although specific embodiments have been provided, the terms "winch system" or "multi-winch system" may refer to any of the various systems and components conceivable for varying the length of the support line 140 without departing from the concept of the invention.

[0060] In one embodiment where anchor point 105 includes a multi-winch system, the first winch 110 and / or the second winch 115 may be fixed. For example, the winch system may be permanently or temporarily attached to a surface near or on anchor point 105 (e.g., by screwing the winch system to an external surface or by connecting the winch system to a mating mechanism located on an external surface). If the suspended aircraft system is to be used near a building, the first winch 110 and / or the second winch 115 may be attached to the top of or near the building. The first winch 110 and / or the second winch 115 may also be connected to a movable support (such as a telescopic rod) to allow movement of the anchor point 105.

[0061] In one embodiment, anchor point 105 may be temporary, changeable, or established during operation of the suspended aircraft system (e.g., via a multi-claw anchor). Anchor point 105 may be located on a transport vehicle capable of moving relative to a stationary region along a single axis. For example, the transport vehicle may be a track-based transport system capable of moving anchor point 105 to a predetermined location. Anchor point 105 may also be located on a transport vehicle capable of translating relative to a stationary region across multiple axes. For example, the transport vehicle may be a vehicle capable of traversing a two-dimensional or three-dimensional passageway and moving the suspended aircraft system to any location within the vehicle's range. In another example, the transport vehicle may be a platform, such as an elevated system. Multiple transport vehicles may be used within an adjacent area of ​​the stationary region, such that each of these transport vehicles can access portions of the same work roll.

[0062] In some embodiments, anchor point 105 may be located on a vehicle. The vehicle may be any of a variety of land, sea, air, and multimodal vehicles. In the examples shown, anchor point 105 may be located on an aircraft referred to herein as a "mothership," wherein the mothership is large enough to support some or all of the weight of the UAV 150 while the mothership is en route. The mothership may be a purely fixed-wing aircraft, a rotorcraft, or any other aircraft capable of flight. Furthermore, the mothership may be a combination / transitional aircraft that simultaneously possesses the typical lifting surfaces and propeller characteristics of a fixed-wing aircraft and the propulsion characteristics of a rotorcraft. The mothership configuration may have the advantage of allowing long-range cruise of a fixed-wing aircraft and hovering and precise positioning capabilities of a rotorcraft. The mothership may also have vertical takeoff and landing (VTOL) capabilities of a rotorcraft.

[0063] In some embodiments, the anchor point 105 may also be located on the underside of one of the mother ships, although the anchor point may also be located in other locations. When the UAV 150 is "parked" or not in flight, the UAV can be securely attached to the mother ship. The mother ship may have one of its docking seats in which the UAV 150 resides when it is not in flight. The docking seat may be internal (so that the UAV 150 is substantially stored inside the mother ship), external (so that the UAV 150 is attached to one of the outer surfaces of the mother ship), or a combination of both. The docking seat may include clamps that securely hold the UAV 150 in place. When the UAV 150 is ready to fly, the docking seat can release the UAV 150 to allow the UAV 150 to leave the mother ship. The length of the support line may be increased by a multi-winch system to lower the UAV 150 from the mother ship. Once UAV 150 has disembarked from its mothership, its thrusters can be activated to guide its flight, either independently or in coordination with the winch system. When UAV 150 has completed its flight and is ready to dock, it can return to its mothership and attach to the docking station.

[0064] Figure 1B illustrates another example of a suspended aircraft system 100B with a multi-winch system. In one embodiment, a suspended aircraft system 100B may have multiple support lines. The UAV 150 may have attachment points for two or more support lines. The UAV 150 may also have two or more winches (e.g., four winches) connected to two or more support lines 140, 145. When two or more support lines 140, 145 are attached to the UAV 150, the support lines 140, 145 can be manipulated independently or in coordination. For example, a first support line 140 may be attached to a first end of the UAV 150 and a second support line 145 may be attached to a second end of the UAV 150. The first end of the UAV 150 may be counterbalanced by the second end of the UAV 150. For example, a first support line 140 may be attached to or connected to a first winch 110 and a fourth winch 125, while a second support line 145 may be attached to or connected to a second winch 115 and a third winch 120. In any of these embodiments, support lines 140, 145 may be attached to or connected to any combination of two or more winches. All four winches may be attached to or connected to an anchor point 105. In any of these embodiments, UAV 150 may be further attached to or connected to a load 155. In some embodiments, UAV 150 may include one or more pulleys 142, 144, 146, 148 to assist in the take-up and release of support lines 140 and 145. For example, as shown in FIG1B, one or more pulleys 144, 146 of UAV 150 may assist in pulling in or releasing support line 140. In another example, one or more pulleys 142, 148 of UAV 150 may assist in pulling in or releasing the support line 145. In some embodiments, one or more pulleys 142, 144, 146, 148 of UAV 150 may be powered pulleys (e.g., pulleys containing a motor) to assist in positioning UAV 150. In other embodiments, one or more pulleys 142, 144, 146, 148 may be passive pulleys that are unable to retrieve any additional line or support line at or near their respective locations. In some embodiments, pulleys 142, 144, 146, 148 may contain motors smaller and / or faster than the motors at winches 110, 115, 120, 125. In these embodiments, the motors of winches 110, 115, 120, and 125 can be used for coarser adjustments to support line 140, while the motors of pulleys 142, 144, 146, and 148 can be used for finer adjustments to support line 140. By utilizing a multi-winch system, the load can be transported and / or released to a target location.

[0065] When it is desired to tilt the UAV 150 such that the height of the first end is different from the height of the second end in order to (for example) orient the UAV 150 in a direction parallel to gravity, the lengths of the first support line 140 and the second support line 145 can be coordinated to achieve the desired operation by adjusting the height of the first end of the UAV 150 by lowering or raising the first end of the UAV 150, while the second support line 145 can remain substantially stationary to maintain the height of the second end of the UAV 150 relative to the first end of the UAV 150.

[0066] Figure 1C illustrates another example of a suspended aircraft system 100C with a multi-winch system. In some embodiments, three support lines 140, 145, and 147 attached to a UAV 150 can enable greater control over the orientation of the UAV 150. It is conceivable that multiple support lines (each connected to one or more UAVs) can be connected to an anchor point 105. It is conceivable that all support lines can be manipulated by a multi-winch system. For example, a first support line 140 may be attached to or connected to a third winch 120 and a fourth winch 125, while a second support line 145 may be attached to or connected to a second winch 115 and a fifth winch 130. A third support line 147 may be attached to or connected to a first winch 110 and a sixth winch 135. In any of these embodiments, support lines 140, 145, and 147 may be attached to or connected to any combination of two or more winches. In some embodiments, UAV 150 may include one or more pulleys (not shown) to assist in the take-up and release of lines 140, 145, and 147. In some embodiments, one or more pulleys of UAV 150 may be powered pulleys (e.g., pulleys including a motor) to assist in positioning UAV 150. In some embodiments, one or more pulleys of UAV 150 may be positioned near or at any attachment point of UAV 150. In any of these embodiments, UAV 150 may be attached to or connected to a payload 155. By utilizing a multi-winch system, payload 155 can be transported, picked up, and / or released to a target or desired location.

[0067] Figures 1A to 1C illustrate examples where two or more winches can be located at the end of a support line, such that the winches are "mounted" on a UAV 150. One or more winches can be used for finer adjustments and one or more other winches can be used for coarser adjustments to the length of the support line 140. For example, the first winch 110 can perform "fineer" or more sensitive length corrections relative to the second winch 115, and the second winch 115 can perform finer adjustments to the length of the support line 140 relative to the third winch 120. In other embodiments, the first winch 110 can perform "coarser" or less sensitive length corrections relative to the second winch 115, and the second winch 115 can perform coarser adjustments to the length of the support line 140 relative to the third winch 120. In any embodiment, the winches can operate or act in concert with the same capabilities as each other. For example, in the event that one or more of these winches fail due to problems with the power electronics, motors, and / or mechanical issues, the remaining winches or several winches may still operate with the same capabilities (e.g., releasing load 155 and docking UAV 150 to anchor point 105). Additional configurations of multi-winch systems and support lines may be contemplated without departing from the concept of the invention.

[0068] In some embodiments, a winch can be used to lower and raise the UAV 150 attached to the load 155 by rotating the winch in a set of orientations. In some embodiments, to lower a load, a winch at a first end of a support line can rotate clockwise and a winch at a second end of the support line can rotate counterclockwise. In some embodiments, to raise a load, a winch at a first end of a support line can rotate counterclockwise and a winch at a second end of the support line can rotate clockwise. In any of these embodiments, lowering the load may be associated with a counterclockwise rotation and raising the load may be associated with a clockwise rotation.

[0069] In one embodiment of a support line connected to a multi-winch system, the movement of the UAV can be adjusted along up to six degrees of freedom by changing the length of the support line. For example, in Figure 1B, four winches can be arranged in a line at 90-degree intervals, while in Figure 1C, six winches can be arranged in a line at 60-degree intervals. In a four-winch system, a set of twin winches (Group A) can be positioned across each other, with a tether line between the two winches, and another set of twin winches (Group B) orthogonal to the first set, with a separate tether line between the second set of winches. This four-winch system may require a force controller to ensure that both ends of the tether are connected or attached to the load. In any of these embodiments, the winches can be parallel to each other. For example, in a multi-winch system, two winches can be positioned side by side, each controlling one end of a tether line. In the event of a failure of one of these winches, the other parallel winch may be able to handle the load itself.

[0070] In some embodiments, an odd number of winches may be used (e.g., 3, 5, 7 or more winches). A multi-winch system using an odd number of winches may require securing one end of the tether (i.e., similar to a faulty winch condition).

[0071] FIG2A illustrates an example of a suspended aircraft system 200A having a multi-winch system for transporting and / or releasing a load. In some embodiments, the suspended aircraft system may include a first winch 210 associated with a first pulley 220 and a second winch 230 associated with a second pulley 240. A tether or support line 225 may be attached at one end to the first winch 210 and the first pulley 220, while the second winch 230 and the second pulley 240 are attached to the support line 225 at the other end. Between the two winches, the support line 225 may run through a load pulley 250 attached to a load 255. In any of these embodiments, the distance between the multi-winch system and the load may be increased or decreased by increasing or decreasing the amount of support line actively used to support the weight of the load to allow for manipulation of the load's position along a vertical axis.

[0072] In some embodiments, the amount of support line 225 may be increased to an adjusted support line 245 to effectively increase the distance between the multi-winch system and the load based on an adjusted load pulley 270 and an adjusted load 275. In any of these embodiments, the load 255 may be moved vertically and / or horizontally to a desired position or a predetermined throwing position and the support line 225 may be reduced, thereby effectively reducing the distance from the multi-winch system to the load.

[0073] Figure 2B illustrates an example of a suspended aircraft system 200B with a multi-winch system for releasing a load subjected to a winch failure. In some embodiments, one or more winches in a multi-winch system may fail due to various mechanical, electrical, fuel, and / or unmanned aerial vehicle-related problems. For example, in a dual-winch system, the second winch 230 and / or the second pulley 240 may fail and lock themselves in place using a winch lock 235 (e.g., causing the second winch 230 to stop). In some embodiments, one or more or all of the winches in a multi-winch system may include an internal winch lock configured to lock the corresponding winch based on certain conditions (e.g., if a mechanical or electrical failure is detected at the winch). The first winch 210 and the first pulley 220 may still operate and function normally, with the tether or support line 225 grounded at the end of the second winch 230 and remaining stationary. Normal operation may refer to the same capability as if the multi-winch system did not have a winch failure. For safety reasons, a multi-winch system with one or more winch malfunctions can pick up or release a load at a slower speed.

[0074] In some embodiments where one or more of these winches fail in a multi-winch system, the failed winch(e) can be locked in place via winch(e) locks to allow the unfailed winch(e) to continue operating on the unlocked side. For example, if the second winch 230 is self-locked via winch lock 235 due to a mechanical or electrical failure, the first winch 210 and the first pulley 220 will still be able to increase or decrease the tension of the support line 225. In any of these embodiments, the functional or unlocking winch has the same load handling capacity as if the system included two functional winches.

[0075] Figure 3 illustrates an example method 300 of operating a suspended aircraft system with a multi-winch system. In some embodiments, a mothership may be located at a desired position or a launching position 305. Determining that the mothership is located at the launching position 305 may trigger an aircraft deployment 310, thereby further activating two or more winch motors by releasing a support line or tether line 315. It may be determined that the launching length of one of the support lines between the aircraft and the mothership meets a minimum launching distance 320. The minimum launching distance may be predetermined or preset manually or by a controller. In response to determining that the launching length of the support line between the aircraft and the mothership meets the minimum launching distance, aircraft stabilization 325 may be initiated. Once aircraft stabilization is initiated, it may be determined that a payload launching height meets a minimum payload launching height 330. The minimum payload launching height may be predetermined or preset manually or by a controller. In response to the determination that the payload drop height meets the minimum payload drop height, the winch motor can operate its brake (i.e., the winch motor can be controlled by a person or controller) and is cancelled 335. Once the winch is cancelled, a payload 340 can be released. Subsequently, the release of the payload can restart two or more winch motors to retrieve the line 345 to one of the docking lengths of the support line between the aircraft and the mother ship. It can be further determined that the docking length of the support line between the aircraft and the mother ship meets a minimum docking distance 350. The minimum docking distance can be manually or predetermined or preset by a controller. In response to the determination that the docking length of the support line between the aircraft and the mother ship meets the minimum docking distance, the aircraft stabilization 360 can be cancelled. After stabilizing the aircraft, the aircraft can dock 365 to the mother ship, and then the winch motor 370 is cancelled.

[0076] Figure 4 illustrates an example controller system 400 operating a suspended aircraft system with a multi-winch system. The example controller system 400 includes a controller 405, an aircraft / UAV 440, and a winch system 460. The controller 405 includes a processor 410, memory 415, a transmitter / receiver 420, a communication interface 425, inputs 430, and outputs 435. The controller 405 can receive various command inputs, such as a desired or target position for one of the aircraft 440. In some embodiments, the aircraft 440 may include a payload altitude sensor mechanism 445, a stabilization system 450, and a weather data analyzer 455. In some embodiments, the winch system 460 may include a motor 465, a braking system 470, a distance sensor 475, a self-laying cable system 485, a self-locking system 487, and a power / battery system 490.

[0077] The controller 405 may further determine that necessary adjustments need to be made to the length of the support line via a self-propelled cable system 485 so that the aircraft 440 can move from the initial position to the desired position.

[0078] In the winch system 460, reducing or increasing the tension within the support line can also serve other purposes. For example, if the aircraft 440 is traveling along a complex route, there may not be a direct line of sight between the aircraft 440 and the anchor point. In this case, the aircraft 440 may require a greater "loosening" within the support line, and therefore the controller 405 can instruct the winch system 460 to reduce the tension within the support line via the motor 465, the braking system 470, and the self-laying cable system 485. In any of these embodiments, the winch system 460 can be activated or deactivated based on the distance sensor 475. If a predetermined distance (e.g., minimum drop distance, minimum payload drop height, minimum docking distance) is met, the winch system 460 can be deactivated or activated. In some embodiments, the winch can utilize the self-locking system 487 in the event of a mechanical failure, electrical failure, and / or other unmanned aerial vehicle-related failure. In the event of a winch failure, winch system 460 can utilize self-locking system 487 by disabling one of the winches. The remaining functional winches can still operate normally to maintain the functionality of aircraft 440, such as releasing or retrieving payloads. Aircraft 440 may be able to dock to an anchorage or mothership by utilizing the remaining functional winches.

[0079] In some embodiments, the aircraft 440 may include a payload altitude sensor mechanism 445 that releases the payload based on a predetermined distance between the multi-winch system and the payload. For example, the aircraft 440 may include a payload attachment mechanism and a component for gripping a payload and subsequently releasing the payload at a designated location after a release signal or other release indicator. The release indicator may be attributed to the payload altitude sensor mechanism 445 determining a minimum payload throwing height.

[0080] In some embodiments, the UAV 440 may include a load height sensor mechanism 445 enabling the UAV 440 to connect to a load. In the illustrated embodiment, the load height sensor mechanism 445 includes a platform for securing the load. The load height sensor mechanism 445 may include a bracket, such as a rotary bearing or a flexure, which can be attached to the platform such that a shaft can be secured within the bracket and substantially connected to the platform. The bracket may allow the shaft to rotate relative to the platform in one or more axes.

[0081] The platform may include a component for gripping a payload and subsequently releasing the payload at a designated location after a release signal or other release indicator. For example, a user or controller may use a hook housed in or attached to the platform to clamp the payload onto the platform. The hook may release the payload when the UAV 440 has reached a delivery point. Other forms of payload gripping are possible. For example, the platform may include a component for non-contact attachment, such as a magnetic attachment system.

[0082] The platform may also utilize a coupling system in which a hook on the platform can be interlocked with an interface on the payload. The coupling system can be operated remotely, meaning a pilot can determine when the UAV 440 has arrived at a delivery point and instruct the UAV 440 to retract the hook so that the payload can be separated from the UAV 440 and placed at the delivery point. The coupling system can also operate automatically or without human intervention. For example, the UAV 440 can determine that it is at the delivery point, such as through GPS positioning or machine vision, and release the hook on the payload, thereby leaving the payload at the delivery point. Similarly, the UAV 440 can be used to retrieve a payload by dispatching the UAV 440 to a designated location, where the platform may be able to secure the payload. In one embodiment, the platform may include a housing in which the payload can be secured before flight.

[0083] The platform can be connected to the axis of the UAV 440, enabling the platform to rotate independently of the UAV 440. In one embodiment of the invention, the load height sensor mechanism 445 may further include components for realizing additional rotational, positional, and / or translational degrees of freedom of the load. For example, the load height sensor mechanism 445 may include a gimbal mechanism connecting the platform to the load. The gimbal mechanism may also be a sliding mechanism. Additional degrees of freedom of the load relative to the platform can be realized passively or actively. The load height sensor mechanism 445 may include a component for connecting the platform and the UAV 440 such that the platform and the UAV 440 do not need to be in direct contact. For example, a second support line may connect the platform and the UAV 440, such that (for example) the platform can be suspended independently of the orientation of the UAV 440. In another instance, the gimbal operation between the UAV 440 and the payload allows the payload and the net thrust vector of the thruster assembly to be independently aligned, enabling the payload to be precisely positioned so that the payload can maintain a neutral orientation while the UAV 440 can tilt.

[0084] In one embodiment of the invention, a suspended aircraft system may be provided for designated functional use. The UAV 440 may be attached to a functional module engineered to allow the suspended aircraft system to participate in a specific mission or mission scope. For example, it is desirable to use the suspended aircraft system to perform cleaning in hard-to-reach locations, such as (e.g.) high-rise windows, wind turbine blades, and solar panels. In another instance, the module may include software, firmware, and / or hardware that allows the suspended aircraft system to access and perform cleaning. For example, the cleaning module may include cleaning hardware, such as a soap dish, sink, and a scraper or other cleaning tool, such as a pressure washer. The cleaning module may also include mechanisms that allow the UAV 440 to maintain contact with the surface, such as selectively activated suction cups. During operation, the UAV 440 can reach the appropriate height of the surface to be cleaned through the coordination of support lines and thrusters. It is desirable to utilize an anchor point located above the location to be cleaned (such as near the top of a building). For example, an anchor point can be fixed to an extension pole located at the top of a building. The UAV 440 can guide the thrusters to generate force in one direction, allowing the UAV 440 to contact the surface using the window cleaning module while the support line bears the necessary weight of the UAV 440. The suspended aircraft system can activate the cleaning module to perform the tasks necessary to bring the surface to a clean state.

[0085] Another example of a functional module may be a dismantling and disposal module. The dismantling and disposal module may include, for example, tools used by an explosive ordnance disposal robot, such as a camera with machine vision, a boom, and a component for bomb removal. The UAV 440 may descend over a suspicious device, determine whether the device poses a threat, and if so, remove the suspicious device.

[0086] In some embodiments, the UAV 440 may not include a platform. Functional modules may be directly connected to other components of the UAV 440 so that the UAV 440 is designed for a specific function, rather than providing interchangeable functionality. For example, in a configuration of a suspended aircraft system for firefighting, the UAV 440 may have a direct and / or permanent connection to a fire hose.

[0087] In some embodiments, an aircraft 440 may further include a weather data analyzer 455 capable of transmitting and receiving weather-related signals. For example, a controller 405 may receive weather data that may affect the flight path of the aircraft 440. The controller 405 may utilize the weather data analyzer 455 to develop a new flight path.

[0088] In some embodiments, the aircraft 440 may further include a stabilization system 450. The stabilization system 450 may be activated or deactivated based on information transmitted and received from the controller 405. For example, a mother ship may be located near a drop point, wherein the mother ship deploys an aircraft 440. This may involve the mother ship transitioning from a flight mode to a hovering mode by activating the stabilization system 450. When a predetermined minimum drop distance has been met, the stabilization system 450 may be further activated. The aircraft 440 may reach the drop point and detach from the payload, thereby leaving the payload at the drop point. After releasing the payload, the aircraft stabilization is revocable, allowing the aircraft 440 to be recalled to the mother ship.

[0089] In any of these embodiments, one reversal of this procedure may be used, wherein the system is dispatched to retrieve a payload from a retrieval point. The suspended vehicle system may be able to deliver a payload to or retrieve a payload from a terrace, which may be partially or substantially enclosed, for example, by a protrusion. The suspended vehicle system can similarly access specific payload sites and payload storage devices, such as parcel lockers, through its ability to deliver and retrieve payloads from confined spaces. Payload sites and payload storage devices may have any or all characteristics associated with automated, manual, stationary, and mobile systems.

[0090] Controller 405 may be at least partially embodied as one or more embedded or general-purpose processors, computers, processing devices, or computing devices with memory. Controller 405 may also be partially embodied as various functional and / or logical elements (e.g., computer-readable instructions, codes, devices, circuits, processing circuits, etc.) performed or operated to perform the embodiments described herein. Controller 405 may be mounted and fixed within or connected to any component of the suspended aircraft system. Furthermore, controller 405 may be located remotely to the system and may otherwise communicate directly or indirectly with the system. In some embodiments, controller 405 is entirely located within the mothership. In other embodiments, controller 405 is entirely located within the UAV. In other embodiments, controller 405 is entirely located in another entity (e.g., another mothership or another UAV, or a ground control unit). In still other embodiments, controller 405 is implemented in a distributed manner and distributed across two or more of these entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.). Similarly, in some embodiments, one or more sensors described herein may be located entirely on the mothership, entirely on the UAV, entirely on another entity (e.g., another mothership or another UAV, or one of the control units on the ground), or may be implemented in a distributed manner and distributed across two or more of such entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.).

[0091] Some or all components of controller 405 may be interconnected via a system bus. Processor 410 may be single or multiple threads and may have one or more cores. Processor 410 may execute instructions such as those stored in memory 415 and / or storage devices. Information may be received using one or more I / O devices via a transmitter / receiver 420, input 430, and output 435.

[0092] Memory 415 can store information and can be a computer-readable medium, such as volatile or non-volatile memory. (Several) storage devices can provide storage for a computer system and can be a computer-readable medium. In various embodiments, (several) storage devices can be one or more of a flash memory device, a hard disk device, an optical disk device, a magnetic tape device, or any other type of storage device.

[0093] The I / O device provides input / output operations for the computer system. The I / O device may include a keyboard, a pointing device, and / or a microphone. The controller 405 may further include a communication interface 425 for displaying a graphical user interface, a speaker, and / or a printer. External data may be stored in one or more accessible external databases.

[0094] The features of this embodiment described herein can be implemented in a digital electronic circuit system and / or in computer hardware, firmware, software, and / or combinations thereof. The features of this embodiment can be implemented in a computer program product tangibly embodied in an information carrier (such as a machine-readable storage device) and / or a transmitted signal for execution by a programmable processor. Embodiments of the method steps can be executed by a programmable processor that executes an instruction program to perform the functions of the described implementation scheme by manipulating input data and generating output.

[0095] The features of this embodiment described herein can be implemented in one or more computer programs that can be executed on a programmable system comprising at least one programmable processor coupled to receive data and / or instructions from a data storage system, at least one input device, and at least one output device, and to transfer data and / or instructions to a data storage system, at least one input device, and at least one output device. A computer program may contain a set of instructions that can be used directly or indirectly in a computer to perform a specific activity or cause a specific result. A computer program may be written in any form of programming language (including compiled or interpreted languages) and may be deployed in any form, including as a standalone program or as a module, component, subprogram, or other unit suitable for use in a computing environment.

[0096] A suitable processor for executing an instruction program may include, for example, both general-purpose and special-purpose processors, and / or one or more processors of any type of computer. Typically, a processor may receive instructions and / or data from a read-only memory (ROM) or a random access memory (RAM) or both. The computer may include a processor for executing instructions and one or more memories for storing instructions and / or data.

[0097] Typically, a computer may also include or be operatively coupled to communicate with one or more mass storage devices for storing data files. Such devices include magnetic disks, such as internal hard disks and / or removable disks, magneto-optical disks and / or optical disks. Storage devices suitable for tangibly embodying computer program instructions and / or data may include all forms of non-volatile memory, including (e.g.) 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 CD-ROM and DVD-ROM optical disks. The processor and memory may be supplemented by or integrated into one or more ASICs (Application-Specific Integrated Circuits).

[0098] 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 may further include a keyboard, a pointing device (such as a mouse or a trackball), and / or a touch screen through which the user can provide input to the computer.

[0099] The features of this embodiment can be implemented in a computer system that includes a back-end component (such as a data server) and / or includes a middleware component (such as an application server or an internet server) and / or includes a front-end component (such as a client computer having a graphical user interface (GUI) and / or an internet browser) or any combination thereof. The components of the system can be connected by any form or medium of digital data communication (such as a communication network). Examples of communication networks may include, for example, a LAN (local area network), a WAN (wide area network), and / or computers and networks forming the internet.

[0100] A computer system may include a client and a server. A client and a server may be geographically isolated from each other and interact through a network such as that described herein. The relationship between a client and a server may arise from computer programs running on their respective computers and having a client-server relationship with each other.

[0101] It should be understood that the prior examples of functionality provided herein are not intended to be limiting. The aircraft 440 may be configured to provide other types of functionality without departing from the scope of the invention.

[0102] Although certain configurations have been described and shown in the accompanying drawings, it should be understood that these are merely illustrative and not intended to limit the invention in general, and since various other modifications may be conceived by those skilled in the art, the invention is not limited to the particular configurations and arrangements shown and described. [Simplified Explanation of the Diagram]

[0035] Figure 1A illustrates an example of a suspended aircraft system with one of a multi-winch systems.

[0036] Figure 1B illustrates another example of a suspended aircraft system with a multi-winch system.

[0037] Figure 1C illustrates another example of a suspended aircraft system with a multi-winch system.

[0038] Figure 2A illustrates an example of a suspended aircraft system with a multi-winch system for releasing a payload.

[0039] Figure 2B illustrates an example of a suspended aircraft system having a multi-winch system to release a load subjected to a winch failure.

[0040] Figure 3 illustrates an example method of operating a suspended aircraft system with a multi-winch system.

[0041] Figure 4 illustrates an example controller system of a suspended aircraft system with a multi-winch system.

Claims

1. A suspended aircraft system, comprising: One mother ship; An aircraft connected to a mothership via a support line entity; a winch system attached to the mothership and comprising a plurality of winches, wherein the winch system is configured to adjust the length of one of the support lines; and a controller configured to: receive an indication that one or more of the plurality of winches are locked; and based on the indication, adjust a distance between the mothership and the aircraft using one or more of the remaining winches of the plurality of winches without using the locked one or more of the plurality of winches.

2. The suspended aircraft system of claim 1, wherein the controller is further configured to adjust the control commands transmitted to the one or more remaining winches of the plurality of winches based on the fact that one or more of the winches are locked.

3. The suspended aircraft system of claim 1, wherein the controller is further configured to avoid transmitting control commands to one or more of the locked winches.

4. The suspended aircraft system of claim 1, wherein the controller is further configured to, in response to receiving an indication that the winch is no longer locked, resume transmitting control commands to one or more of the locked winches.

5. The suspended aircraft system of claim 1, wherein one or more of the winches are configured to self-lock after a triggering condition is detected.

6. The suspended aircraft system of claim 1, wherein one or more of the winches are configured to provide the instruction to the controller.

7. The suspended aircraft system of claim 1, wherein the mothership is capable of flight.

8. The suspended aircraft system of claim 1, wherein the mothership has the lifting surface of a fixed-wing aircraft and the propulsion characteristics of a rotorcraft.

9. The suspended aircraft system of claim 1, wherein the mothership is configured to support at least a portion of the weight of the aircraft via the support line.

10. The suspended aircraft system of claim 1, further comprising a docking station located on the mothership and connected between the mothership and the aircraft.

11. The suspended aircraft system of claim 1, further comprising a second aircraft physically connected to one of the motherships.

12. The suspended aircraft system of claim 1, wherein each of the plurality of winches includes one or more pulleys, and wherein the one or more pulleys assist in the release and reeling in of the support line.

13. The suspended aircraft system of claim 1, wherein the plurality of winches operate in coordination.

14. A method for transporting a load, comprising: A mother ship is dispatched to a launching position, the mother ship having an aircraft in a docking seat located on the mother ship, wherein the aircraft carries a payload; the aircraft is deployed at the launching position using a winch system, wherein the winch system includes a first winch and a second winch; the first winch and the second winch are activated to release a line to a launching length of a support line; it is determined that the launching length of the support line between the aircraft and the mother ship meets a minimum launching distance; in response to determining that the launching length of the support line between the aircraft and the mother ship meets the minimum launching distance, the aircraft is stabilized; a payload launching height is determined to meet a minimum payload launching height; in response to determining that the payload launching height meets the minimum payload launching height, the first winch and the second winch are withdrawn; the payload is released, wherein the release of the payload restarts the first winch and the second winch to retrieve the line to a docking length of the support line between the aircraft and the mother ship; The system determines that the docking length of the support line between the aircraft and the mother ship meets a minimum docking distance; in response to the determination that the docking length of the support line between the aircraft and the mother ship meets the minimum docking distance, the system cancels the aircraft stabilization; the system docks the aircraft in the docking seat located on the mother ship; and the system cancels the first winch and the second winch.

15. The method for transporting a load as claimed in claim 14, wherein when one of the first winches or the second winch fails, the first winch or the second winch continues to operate, wherein the unfailed winch continues to operate to transport the load.

16. The method for transporting a load as claimed in claim 14, wherein the winch system further comprises two or more winches in multiples of two.

17. A system for controlling a suspended aircraft system, comprising: A controller configured to coordinate the movement of a winch system attached to an anchor point, the winch system including a first winch and a second winch; activating the first winch and the second winch via the controller to release a line to a casting length of a support line; releasing a load to a casting position via the controller; and deactivating the first winch and the second winch via the controller to retrieve the line to a docking length of the support line.

18. The system for controlling a suspended aircraft system as claimed in claim 17, wherein the controller causes the first winch to rotate clockwise and the second winch to rotate counterclockwise to reduce the load.

19. The system for controlling a suspended aircraft system as claimed in claim 17, wherein the controller causes the first winch to rotate counterclockwise and the second winch to rotate clockwise to raise the load.

20. The system for controlling a suspended aircraft system as claimed in claim 17, wherein the winch system further comprises two or more winches in multiples of two.

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