Hoist and deployable devices, apparatuses, systems, and methods

Abstract

The present invention discloses systems, devices, and methods for deploying and retracting a deployable device to and from a hoist to control a load on a suspension without transmitting torque to a suspension lock, enabling the deployable device to obtain data and information from the hoist, and enabling the deployable device to control the hoist, such as a drum of the hoist, to control the z-axis at the end of a suspension cable. For example, controlling the z-axis can be controlling the height of the load, such as relative to a vehicle, the ground, or a target, or can be controlling the tension in the suspension cable or the tension of the suspension cable. For example, controlling the z-axis can be controlling the rate of ascent or descent of the end of the suspension cable.

Description

[0001] Cross - reference to related applications

[0002] This application is a non - provisional patent application and claims the benefit of the filing dates of U.S. Provisional Patent Application No. 62 / 876,721, filed on July 21, 2019, and U.S. Provisional Patent Application No. 62 / 931,666, filed on November 6, 2019, and incorporates its subject matter by reference. Technical field

[0003] The present disclosure relates to devices, systems, and methods for controlling hoists in vehicle and mechanical systems, such as suspension load control systems, and related improved systems and methods. Background art

[0004] A person and / or object, such as an apparatus (“load”), may be transported to or from a location as a load suspended by a cable from a helicopter or crane or from a fixed - wing aircraft, using a hoist system. Cranes, helicopters, and fixed - wing aircraft may be referred to herein as “vehicles”. In performing a transport operation using a fixed - wing aircraft, the transport operation may also be performed by having the fixed - wing aircraft circle around a pick - up point, where the cable forms a helix, and repositioning the center of the orbit of the circling fixed - wing aircraft to direct the center of the helix towards the general area of the pick - up point. The load generally has no buoyancy, although some may have buoyancy. During vehicle operation, the load is affected by wind and other external and internal forces that can cause the load to move in an unstable, unpredictable, undesirable, and / or dangerous manner.

[0005] When performing hoisting and suspension operations or other operations while transporting a suspended load by a vehicle, the observed motion of the suspended load includes the following components: vertical translation along the Y-axis (up and down motion) (hereinafter referred to as "vertical translation"); horizontal translation along one or both of the X-axis and the Z-axis; and rotation or "yaw" about the Y-axis. Rolling (rotation about the X-axis) and pitching (rotation about the Z-axis) may also occur, but if the load is suspended by a cable and there is no buoyancy, the typical motions are vertical translation, horizontal translation, and yaw. The vertical translation and horizontal translation can be caused by the movement of the suspension cable, the movement of the vehicle, the winding that rises or falls relative to the vehicle, the movement of the load, the difference in speed and momentum between the load and the vehicle, the impact of wind - including propeller wash - the interaction between the load and the helical cable, and external forces. The horizontal translation can manifest as the lateral movement of the load or conical pendulum motion, where the pivot point of the pendulum is the position where the cable is fixed to the vehicle ("pendulum motion"); pendulum motion typically also includes a component of vertical translation and can also be referred to as elliptical motion. During a fixed-wing vehicle extraction operation, the bottom of the helical cable may only approximately find the desired extraction point, and the extracted load may be affected by an undesired "yo-yo" effect, where the bottom of the helix bounces up and down; the "yo-yo" effect is also referred to in this article by the term "vertical translation".

[0006] Yaw, lateral movement, pendulum motion, and vertical translation complicate the hoisting operation, causing delays and injuries and potentially causing death to workers, crane operators, and ground personnel. Yaw can produce dizziness and disorientation in humans and non-human animals. Undesired vertical translation can produce a load that can include a person hitting the ground, hitting an object in the environment, or being subjected to an undesired acceleration. Yaw, lateral movement, pendulum motion, and vertical translation also create interference in bringing the load into or transferring it to a certain position. For example, even if the deck is stable and does not heave, roll, or pitch as it might occur, the transfer of the load to the deck of the ship can be complicated due to the pendulum motion or yaw of the load. For example, if a stretcher yaws or exhibits pendulum motion while being pulled towards a helicopter, it can be dangerous to bring the person in the stretcher into the helicopter or onto the helicopter strut. One or more components of the undesired motion of the load may increase in amplitude and / or frequency and become more pronounced as the load is pulled upwards towards the vehicle and the cable shortens. The horizontal translation, vertical translation, and pendulum motion of the load can also interact with the vehicle to produce dangerous reactive or sympathetic motions in the vehicle.

[0007] In addition, some suspended load operations may involve obstacles, such as surfaces, cliffs, buildings, bridges, tree branches, overhangs, or other obstacles that can interfere with one or more of the vehicle, the load, and / or the cable.

[0008] Vehicles typically operate or work with multiple devices. One such device can be a vehicle hoist system. The hoist system on a vehicle can be used to lift an object (such as a person, stretcher, load, etc.) from the ground to above the vehicle; this process can be referred to as a lifting operation. However, during the lifting operation, multiple devices can be used to assist or support the lifting operation, such as a suspended load control system (“SLCS”), a jungle penetrator, or a rescue circle, or a rescue stretcher. If deployed, the device may require a mechanism such as a hook to attach the device to the hoist system and the suspension cable. In traditional hoist operations, such a mechanism may require a crew member in a helicopter to physically connect the device to the appropriate component of the hoist system for use during the operation.

[0009] The mechanical and logical complexity of the deployed device that can be fixed to the suspension cable below the hoist of a vehicle is increasing. For example, the deployed device can perform services for the load and / or for the vehicle, such as an SLCS, which can stabilize the load to prevent it from rotating or pendulum motion or control the position of the load relative to the target. For example, it may be necessary to perform services on the deployed device, such as moving the deployed device in one or more of the X-axis, Y-axis, and Z-axis, winding or shortening the suspension cable, lengthening or paying out the suspension cable, recharging the battery in the deployed device, etc. The lack of integration between the deployed device and the hoist and / or the vehicle may require many such services to be provided by one or more persons (such as the crew of the vehicle). Performing such services can be inconvenient, distracting, or dangerous for the crew member, other persons in the vehicle, or persons on the ground. Inadequate integration between the deployed device and the hoist system can cause, for example, premature battery discharge, damage to the device and the surrounding environment, injury, loss of life, and mission failure, including life-saving mission failure.

[0010] During, for example, helicopter suspended load missions, fire missions, crane operations, naval resupply missions between ships, deep sea drilling applications, aircraft air refueling operations, and fixed wing lifting operations, there may be a lack of integration between the deployed device and the hoist. Therefore, there is a need for greater integration between the deployable device and the hoist system. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 A vehicle, a hoist, a deployable device, and a load according to an embodiment are shown.

[0012] Figure 2 A hoist, a docking device for a deployable device, and a deployable device in a deployed configuration according to an embodiment are shown.

[0013] Figure 3 A hoist, a docking device for a deployable device, and a deployable device in a loaded configuration according to an embodiment are shown.

[0014] Figure 4 Shows an elevator, a docking device for a deployable device, a drum, and a deployable device interface according to an embodiment.

[0015] Figure 5 Shows a first view of a deployable device fixed to a suspension cable according to an embodiment.

[0016] Figure 6A Shows according to an embodiment Figure 5 A second view of the deployable device fixed to the suspension cable therein.

[0017] Figure 6B Shows according to an embodiment Figure 5 A second view of the deployable device (excluding the suspension cable in the figure).

[0018] Figure 7A Shows a view of the frame of a deployable device and a cable attachment mechanism according to an embodiment.

[0019] Figure 7B Shows according to an embodiment Figure 7A A second view of the frame of the deployable device and the cable attachment mechanism therein.

[0020] Figure 8A Shows a view of a cable attachment mechanism fixed to a suspension cable according to an embodiment.

[0021] Figure 8B Shows according to an embodiment Figure 8A A detailed view of the cable attachment mechanism (excluding the suspension cable in the figure).

[0022] Figure 8C Shows according to an embodiment Figure 8B A second view of the cable attachment mechanism therein.

[0023] Figure 9A Shows a component view of the cable attachment mechanism according to an embodiment.

[0024] Figure 9B Shows according to an embodiment Figure 9A A second view of the components in the cable attachment mechanism.

[0025] Figure 10 Schematically shows operating components in an elevator and deployable device control system including remote interface logic components and elevator logic components according to an embodiment.

[0026] Figure 11 Shows an operating module in a deployable device system including multiple modes or command states according to an embodiment.

[0027] Figure 12 Shows a hoist and a deployable device data fusion and control module in a deployable device control system according to an embodiment.

[0028] Figure 13 Shows a hoist with an integrated deployable device operation module according to an embodiment.

[0029] Figure 14A Shows a view of a remote interface for an integrated hoist and deployable device according to an embodiment.

[0030] Figure 14B Shows according to an embodiment Figure 14A A second view of the remote interface for the integrated hoist and deployable device in.

[0031] Figure 15A Shows a rear view of the remote interface of the SLCS according to an embodiment.

[0032] Figure 16A Shows a docking interface in an undocked configuration according to an embodiment.

[0033] Figure 16B Shows a docking interface in a docked configuration according to an embodiment.

[0034] Figure 17A Shows a coupler of a terminal device coupled to a suspension cable according to an embodiment.

[0035] Figure 17B Shows a deployable device support in a terminal device of a suspension cable according to an embodiment. Detailed Description

[0036] In various embodiments, as further described herein, the integrated hoist and deployable device enable interaction between the deployable device and the hoist. For example, when integrated, the deployable device can receive distance, weight, and / or force data or information from the hoist. For example, when integrated, the deployable device can provide telemetry data or information to the hoist or another process. For example, when integrated, the deployable device can control the hoist. For example, when integrated, the deployable device can control the hoist to achieve a goal, such as a goal of the deployable device. For example, when integrated, the deployable device can deploy from the hoist onto a suspension cable without or with minimal human interaction. For example, when integrated, the deployable device can dock in the hoist without or with minimal human interaction. For example, when integrated, the deployable device can obtain communication services from a vehicle. For example, when integrated, the deployable device can obtain power and / or battery recharging services from a vehicle.

[0037] For example, the deployable system can be an SLCS. The SLCS can be located at or near the location of a load suspended from a suspension cable beneath a hoist. The load can undergo pendulum motion, rotational translation, or horizontal or vertical translation in response to the movement of the vehicle, the interaction between the load and the suspension cable, and / or external disturbances. The SLCS can control the load by dynamically controlling the hoist (e.g., by controlling the winch in the hoist to wind in or out the suspension cable). The SLCS can control the load by dynamically applying forces from, for example, thrusters, fans, or propellers (e.g., high-output ducted fans) in the SLCS. Thrusters, fans, propellers, and ducted fans can be referred to herein as "EDF". Other thrust sources can be used, such as ejectors, compressed air, hydrogen peroxide thrusters, rockets, etc.

[0038] The SLCS can control itself and the load by estimating current and near-future state information and parameter information in the SLCS and the load (the discussion herein of "control of the load" or "control of the SLCS" should be understood as control of the SLCS and thereby as control of the load that can also be fixed to the SLCS). Parameter information can include, for example, the mass of the SLCS and the load, the cable length, and the inertia moments of the SLCS and the load. State information can include, for example, the position, movement, and rotation of the SLCS and the load, the movement and rotation of the vehicle, the thrust output from the fan or other thrust source, and disturbances such as wind, sea conditions, and relative SLCS and helicopter movement. Parameter information, state information, and disturbing forces are not "hard-wired" into the SLCS, but are dynamically determined so that the SLCS changes its behavior to address different operations and the changing environment of a single operation.

[0039] When the SLCS or another deployable device can obtain at least some parameter information or state information from the hoist, such as the length of the suspension cable or the mass of the SLCS and the load, it can better estimate the parameter information and state information.

[0040] Using such a complex state and disturbance model, the SLCS can better control the load by dynamically applying forces from, for example, the hoist including the winch in the hoist and / or from the EDF at or near the load location.

[0041] For example, paying out or taking in the suspension cable from a hoist can be used to obtain a desired height of a suspended load, obtain a desired rate of change of the height of the suspended load (including reducing or eliminating a "yo-yo" effect), maintain a desired tension in the suspension cable, deploy a deployable device, retract a deployable device, etc. When the deployable device includes an SLC, the vector thrust generated by the EDF can be used to counteract yaw and pendulum motion, can be used to horizontally translate a load, such as to obtain a desired position or avoid an obstacle or move the load to an offset position below a normal minimum energy suspension position or "down line" relative to an attachment point of the suspension cable on the vehicle, such as under an arm holding the suspension cable. As used herein, "position" is synonymous with "positioning" and includes spatial coordinates on the x-axis, y-axis, and z-axis.

[0042] The SLCS can be used to control fine position, orientation, and its motion independent of the vehicle. As used herein, "motion" includes motion on the x-axis, y-axis, and z-axis as well as rotation. When integrated with a hoist, a deployable device (such as an SLCS) can also use the hoist to control the z-axis of the SLCS and the load. Telemetry output from the SLCS can be used to provide feedback to vehicle crew members or to a process executed by a system in the vehicle. For example, the cable length estimated by the SLCS or the position of the SLCS and the load relative to a target or relative to the vehicle can be output to a crew member controlling the hoist or to a process controlling a crane, or directly to the hoist.

[0043] Thus, when the SLCS dynamically determines and controls the suspension cable length, the force on the cable, the position and rotation of the SLCS and the load, decouples from the motion of the vehicle, and the SLCS provides telemetry information that can be used during suspended load operations, the integrated hoist and deployable device can enhance mission performance and safety and can improve the performance of the vehicle.

[0044] Once deployed and in use, the integrated hoist and deployable device may be agnostic to the characteristics of the platform from which the load is suspended (e.g., the characteristics of a helicopter "airframe", a fixed-wing aircraft, an unmanned aerial vehicle, a crane, etc.) because it independently and dynamically determines the hoist actions and / or thrust required to deploy or retract the deployable device to obtain a desired height, to obtain a desired change in height, to obtain a desired tension in the suspension cable, to stabilize the load or achieve other purposes, such as to direct the load in a desired direction. This allows for wide adoption of the integrated hoist and deployable device regardless of vehicle type, thereby reducing costs and mitigating the risk of the solution.

[0045] The integrated hoist and deployable device can provide benefits for, for example, helicopter search and rescue, MEDEVAC, suspended load operations, forest fire fighting helicopters, crane operations, building suspended load operations, civil fire fighting, and fixed-wing hoist operations.

[0046] The control of a deployable device may require determining parameters such as cable length, the mass of the deployable device and / or load, the moment of inertia of the deployable device and / or load, and state information such as the position, orientation, and / or motion of the deployable device, vehicle, and / or load, and potential interfering environmental conditions. A subset of the parameter information or state information may be reported to another system; when so reported, such a subset of information may be referred to as "telemetry data" or "telemetry information". State or telemetry information associated with the deployable device, load, and / or vehicle may also be utilized to improve the control of the vehicle and / or components in the vehicle, such as a winch or hoist that may be used in association with the deployable device. The deployable device may be used in situations where a Global Positioning System (GPS) or other geolocation or radio navigation system or other positioning and orientation system (including cable length and forces on the cable) is unavailable, impaired, or delayed. Redundancy of state and telemetry information may also be desirable to increase reliability in the implementation of the control system and reduce latency in providing telemetry information to such a system.

[0047] The control of a deployable device is different from the control of other automated systems (such as automobiles and unmanned aerial vehicles), at least in that the deployable device may require dynamically and recursively estimating parameter information and state information.

[0048] The present invention discloses one or more devices, systems, and / or methods for integrating a hoist and a deployable device. The integrated hoist and deployable device may obtain certain parameter information from the hoist, such as cable length and forces on the hoist, such as mass. In addition to obtaining parameter information from the hoist, the deployable device may independently determine or estimate parameter information and may independently determine or estimate state information. The deployable device may provide some or all of the independently determined information as telemetry data to one or more control devices, systems, and / or methods that may be remote from the deployable device, including providing such information to the hoist.

[0049] As further described herein, these devices, systems, and / or methods can integrate information from a hoist (such as cable length and force on the hoist) with machine vision information and other sensor information (such as information from an inertial navigation system (“INS”), from LIDAR (which may be an acronym for “light and radar” or “light detection and ranging”), from ultrasonic proximity sensors, from cameras or other machine vision systems, and information from other sensor inputs discussed herein) to position a deployable device relative to a vehicle, relative to a target location, or relative to another object. The information from the hoist can be provided by a drum in the hoist, such as by a cable length encoder and / or a drum torque encoder. The machine vision information can be generated by image capture by a camera in the deployable device and object detection of the vehicle and / or load in such images. When integrated with information from cameras, INS, LIDAR systems, relative localization parameters and state information can be developed with low latency and high reliability (including distance under the vehicle, height of the deployable device, force on the suspension cable, relative orientation and position of the vehicle, load, and / or deployable device, and individual heading vectors of the vehicle and deployable device within a localized coordinate system). When absolute parameter or state information is available, such as from GPS or another radio navigation system or absolute positioning system, the absolute localization information and relative localization information can be integrated. The integration of information from the hoist, machine vision information, and information from inertial navigation, LIDAR, and / or absolute position systems can be performed using methods including, for example, Kalman filters (such as an unscented Kalman filter (“UKF”) and state models).

[0050] Reference is now made in detail to the description of the embodiments shown in the drawings. While the embodiments are described in conjunction with the drawings and related descriptions, it is not intended to limit the scope to the embodiments disclosed in the present invention. On the contrary, the present invention is intended to cover all alternatives, modifications, and equivalents. In alternative embodiments, additional devices or combinations of the devices shown may be added or combined without limiting the scope of the embodiments disclosed in the present invention. For example, the embodiments set forth below are primarily described in the context of fixed-wing hoist operations, helicopter suspended loads, search and rescue operations, and / or crane operations. However, these embodiments are illustrative examples and in no way limit the disclosed technology to any particular application or platform.

[0051] Phrases such as "in an embodiment", "in various embodiments", "in some embodiments", etc. are used repeatedly. These phrases do not necessarily refer to the same embodiment. Unless the context otherwise requires, the terms "comprising", "having", and "including" are synonymous. As used in this specification and the appended claims, unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" include plural referents. It should also be noted that unless the context clearly dictates otherwise, the term "or" is generally used in its inclusive sense of "and / or".

[0052] Figure 1 The hoist 101, the vehicle 105, the deployable device 110, the suspension cable 115, and the load 121 are schematically shown.

[0053] The vehicle 105 can be, for example, a crane, a helicopter, a fixed-wing aircraft, a drone, etc. The vehicle 105 can include communication, power, and / or control modules or systems to communicate with and / or supply power to the hoist 101 and / or the deployable device 110. The vehicle 105 can include a structure to which the hoist 101 can be fixed.

[0054] The hoist 101 is illustrated as including a hoist module 120, a drum 125, a cable length encoder 130, a drum torque encoder 135, and a deployable device interface 140.

[0055] The drum 125 can include a winch, a suspension cable (such as the suspension cable 115 wound or to be wound around the winch), an electric or hydraulic motor for rotating the winch, a brake for stopping the rotation of the winch, a winding guide for guiding the cable when the cable is wound onto or off the winch, a cable length encoder 130, and a drum torque encoder 135. The cable length encoder 130 can encode or record the length of the cable deployed from the winch, for example, by using a physical sensor, an optical sensor, or a Hall sensor, etc., that measures the rotation of a roller in the winch and / or the cable guide. Whether under static conditions (e.g., when the winch is not rotating) or dynamic conditions (e.g., when the winch is rotating), the drum torque encoder 135 can encode or record the force on the winch, such as the torque on the winch. The drum torque encoder 135 can include, for example, a strain gauge, a scale, a mass or weight measuring device, etc. The drum torque encoder 135 and / or the hoist module 120 can estimate or determine the mass of the load on the cable 115 based on the torque and / or based on static or dynamic conditions.

[0056] The hoist 101 can include electronic components, including a computer processor, a computer memory, signal processing components, logic components, and actuators, including the drum 125 and other actuators. Such components are also discussed herein in connection with the hoist logic component 1080.

[0057] The hoist module 120 may be in logic implemented in a computer memory or in circuitry within the hoist 101. The hoist module 120 may include logic for operating the hoist 101. The hoist module 120 may obtain data or information, for example, from the cable length encoder 130 and the drum torque encoder 135, and may provide the data or information to other components, such as the deployable device 110 and / or the vehicle 105. The hoist module 120 may receive data, information, or instructions from, for example, the deployable device module 145 and / or the vehicle 105 (including from a crew member in the vehicle 105). The hoist module 120 may execute instructions, such as winding or unwinding (or paying out) the suspension cable 115, communicating with the deployable device 110, and / or controlling or using the deployable device interface 140. Figure 13 An example of the logic components in the elevator module 120 is shown in connection with an elevator having an integrated deployable equipment operations module 1300 .

[0058] The deployable device interface 140 includes one or more interfaces for or pointing to the deployable device 110, such as a communication interface, an electrical interface, or a docking interface. The communication interface can provide signal communication to the deployable device, including providing signal communication through a wireless or wired communication medium. The electrical interface can provide power to the deployable device or obtain power from the deployable device. The docking interface may include a docking device for the deployable device; the docking device for the deployable device may include components (including physical structures and / or actuators) that are used to secure or release the deployable device into or on a hoist or secure or release the deployable device into or on a carrier.

[0059] The deployable device 110 may include, for example, a SLCS, a sensor group, or other devices that may include electronic components, including a computer processor, a computer memory, a signal processing component, a battery, a logic component, and an actuator. Examples of such devices are discussed herein in conjunction with the hoist and suspended load control system 1001. The examples of the deployable device 110 discussed herein include a SLCS, but the deployable device 110 may not be limited to a SLCS.

[0060] The deployable equipment module 145 may be in a logic component implemented in a computer memory or in a circuit within the deployable equipment 110. The deployable equipment module 145 may provide services to and obtain services from the carrier 105, the hoist 101, the load 121, or another object or party. For example, the deployable equipment module 145 may provide load control services, such as when the deployable equipment module 145 is or includes the operation module 1100 or the hoist and deployable equipment data fusion and control module 1200.

[0061] The deployable device 110 can provide services to the vehicle 105, the hoist 101, the load 121, or another object or party. The services provided by the deployable device 110 can include, for example, data acquisition (such as data acquisition for telemetry or situational awareness) and load control (such as load control services for the load 121), communication services, etc. The deployable device 110 may require or benefit from services from the vehicle 105, the hoist 101, the load 121, or another object or party. The services to the deployable device 110 can include, for example, data or information services, communication services, power services, physical transformation, and docking and deployment to and from the vehicle.

[0062] The load 121 can include living or inanimate objects, such as people, devices, slings for transporting objects, stretchers, containers for holding water or another liquid or gas, etc. The load 121 can be fixed to the suspension cable 115 via a hook, for example, or to another cable or a fixing mechanism of the deployable device 110. The weight or mass of the load 121 can change during operation, such as when a part of the load is lifted, lowered, or released.

[0063] Figure 2 The hoist 205, the docking device 202 for the deployable device, the deployable device 201, and the suspension cable 210 in a deployed or partially deployed configuration are shown.

[0064] The hoist 205 is illustrated as including a housing 206, which can act as or include components in the docking device 202; the housing 206 can separate the components within the hoist 205 from the environment. The hoist 205 can be fixed to the vehicle by directly or indirectly coupling to fixed hardware, booms, arms, etc. of the vehicle, whether in the internal space of the vehicle or on the external structure of the vehicle, etc. The outer housing 206 can house or include components for delivering or retrieving the deployable device and / or the attached payload or load. For example, such components can include motors, motor controllers, such as the hoist module 120, the suspension cable 210, spools or drums, cable anchors, cable guides, etc.

[0065] The deployable device 201 is illustrated as including, for example, a fan unit 220. The fan unit 220 can include one or more thrusters, such as EDFs. The deployable device 201 can include logic components, such as a computer processor, a memory, and modules in the memory, such as the deployable device module 145. Such logic components can be used or directed by the deployable device 201 or its modules (such as when in autonomous or semi-autonomous mode) and / or by a person or other device to provide services. In Figure 2In the example shown, the deployable device 201 is an SLCS and can provide load and hoist control services to a load and / or a vehicle; the load and hoist control services can include control of the hoist 205. The modules for providing the load and hoist control services include a deployable device operation module 1100 and a hoist and deployable device data fusion and control module 1200.

[0066] The deployable device 201 is illustrated as including a deployable device docking device interface 215. As discussed herein, the deployable device docking device interface 215 can be fixed or docked to the hoist docking device interface 415. The deployable device docking device interface 215 can be an interface through which the deployable device provides or obtains communication services (including providing or obtaining communication services through wireless and wired media), obtains power services, and / or through which physical connection or physical fixation services from the hoist 205 and / or the vehicle can be performed.

[0067] The deployable device 201 is illustrated as including a cable fixing mechanism 225. The cable fixing mechanism 225 can be used to releasably fix the deployable device 201 to the cable 210. Examples of the cable fixing mechanism 225 are discussed herein, for example, in connection with the cable attachment mechanism 701.

[0068] Figure 3 The hoist 205 and the deployable device 201 in a docked configuration or a loaded configuration are shown.

[0069] Figure 4 The hoist 205, the housing 206, the hoist docking device interface 415, the drum or drum housing 420 (“drum 420”), and the suspension cable 210 are shown. The drum 420 can include a motor, a motor controller, the suspension cable 210, a spool or drum, a cable anchor, a cable guide, etc. The hoist docking device interface 415 can be an interface through which the hoist 205 can provide or obtain services regarding the deployable device, such as communication services (including communication services provided or obtained through wireless and wired media), power services, and / or physical connection or physical fixation services. The components in the hoist docking device interface 415 may not be shown, for example, the components for physical connection or physical fixation services. Additional examples of the components for physical connection or physical fixation services between the hoist and the deployable device are also discussed herein, for example, in connection with the docking interface 1600 discussed in FIG. 16. The drum 420 and the hoist docking device interface 415 can be controlled by logic components implemented in a computer memory or logic components implemented in the circuit hoist 205. Examples of the drum and the hoist docking device interface are discussed and shown herein in connection with Figure 13 and a hoist having an integrated deployable device operation module 1300.

[0070] Figure 5 Shows a first view of a deployable device 500 fixed to a suspension cable 210 according to an embodiment. In Figure 5 the example shown, the deployable device 500 includes an SLCS. The deployable device 500 includes a fan unit 505, a chute 530, a deployable device interface 518, a deployable device interface 517, a handle 515, a fixing mechanism 520, a deployable device housing 510, and a cable passage 525.

[0071] The deployable device 500 includes electronic components, including a computer processor, a computer memory, a signal processing component, a logic component, a power supply and / or a battery, an electronic speed controller, a microcontroller, sensors, actuators, etc. The power supply within the deployable device 105 can be a single power block or an array of battery cells wired in series and / or in parallel, such as lithium polymer (LiPo) battery cells. The battery can be removable for inspection and / or replacement of discharged and charged batteries. The battery can be charged at the time of installation through a node or a wireless charging system (i.e., without having to remove them). The battery can include auxiliary batteries to provide a stable power supply to the processor even if the thrusters in the fan unit draw a relatively large amount of power from the main battery. In an embodiment, a vehicle (such as a helicopter, a crane, or a fixed-wing aircraft) suspending the deployable device can supply power through a line extending down the suspension cable to the deployable device. In an embodiment, the vehicle can supply some power to the deployable device, and the deployable device can obtain other power from an on-board power supply. In various embodiments, the deployable device can be powered by a combination of an on-board power supply and a remote power supply. In many environments, all the power for the deployable device is contained on the deployable device, allowing for fully autonomous operation without relying on the availability of an external power supply or delivery device.

[0072] Figure 5 The actuator visible in includes the fan unit 505; a similar fan unit is located on the other side of the deployable device 500. As shown in this example, the fan unit 505 can include two EDFs.

[0073] The fan unit 505 may include a ventilation cap that protects one or more EDFs. The ventilation cap may be hardened to withstand environmental impacts. The ventilation cap unit may be made of metal, plastic, a composite material including fiber-reinforced resin, etc. The fan unit may include an air inlet and an air outlet through which air may be inhaled. The air inlet may include one or more screens or filters for preventing some objects from entering the EDF. The EDF in the fan unit may include blades and a motor, such as an electric motor. The electric motor within the EDF may be sealed to prevent dust, sand, water, and debris from entering. In addition to or instead of the EDF, alternative thrust sources may be used, such as compressed air, a hydrogen peroxide jet or thruster, a liquid or solid rocket engine, a fan driven by a combustion engine (such as a jet engine), etc.

[0074] For ease of discussion, the fan units located on the first side of the SLCS may be discussed as a first fan unit group, while the fan units located on the second side may be discussed as a second fan unit group. The fan units in each fan unit group push a fluid with thrust (such as air) in a fixed direction (such as fixed directions opposite to each other); for example, offset by 180 degrees. In other embodiments, fewer or more fan units and / or EDFs may be used in the SLCS. In other embodiments, the fan units and / or EDFs may be arranged in a manner other than offset by 180 degrees, such as offset by more than or less than 180 degrees, offset along other axes or not offset. Mechanical steering components may be included to dynamically reposition the fan units and / or the EDFs within the fan units.

[0075] The EDFs in the respective fan units may be activated separately with different powers to generate a thrust vector or thrust vector control of the components in the fan unit. For example, to generate a clockwise yaw (when looking down from the top of the SLCS in Figure 5 ), the EDFs in the first fan unit group may be activated by themselves or in combination with the relative EDFs in the second fan unit group. To generate a lateral translation of the SLCS 105 or to generate a lateral force opposite to a pendulum motion, the EDFs in the two fan unit groups with the same orientation may be activated. A lateral force and a rotational force may be generated simultaneously. Vectorized thrust may be generated by a deployable device module.

[0076] The deployable device module may be in a logic component implemented in a computer memory or in a circuit within the deployable device 500. Examples of the deployable device module are shown and discussed herein in connection with the operation module 1100 in Figure 11 or the elevator and deployable device data fusion and control module 1200 in Figure 12 In the examples discussed herein, the deployable device module may control the EDFs in the fan unit 505 to control a load, where the load may be fixed above or below the deployable device 500.

[0077] The cable passage 525 can potentially be used in combination with the handle 515 to pass the suspension cable 210 through the deployable device 500, whereby a cable attachment mechanism (such as the cable attachment mechanism 701 discussed herein) can be used to secure the deployable device 500 to or around the suspension cable 210.

[0078] The securing mechanism 520 can potentially be used in combination with the handle 515 to carry, hold, or secure the deployable device 500, such as during transportation to or within a vehicle, prior to deployment of the deployable device 500.

[0079] The deployable device interfaces 517 and 518 can be interfaces through which the deployable device 500 provides or obtains communication services (including communication services provided or obtained via wireless and wired media) and / or obtains power services, and which are similar to the deployable device docking device interface 215 discussed herein.

[0080] Figure 6A A front view of the deployable device 500 is shown, and the buffer 605 and the hook 230 are also shown. Devices such as the buffer 605 and / or the hook 230 can be referred to herein as "terminal devices of the suspension cable" or "terminal devices". The buffer 605 can be a block or buffer fixed to the end of the suspension cable 210. The hook 230 can be fixed to or be part of the buffer 605. A rotary bearing or coupling can allow the buffer 605 to rotate separately from the cable 210. A rotary bearing or coupling can allow the hook 230 to rotate separately from the buffer 605. The deployable device 500 can be positioned or fixed to the terminal device of the suspension cable, such as the buffer 605, for example, by a coupling attached to the terminal device of the suspension cable. Examples of couplings attached to the terminal device of the suspension cable are discussed herein in connection with Figure 17A the coupling or flange 1705 attached to the terminal device of the suspension cable in. The terminal device of the suspension cable can include a support for receiving or securing the deployable device 500 to the terminal device of the suspension cable; examples of such terminal devices of the suspension cable are shown and discussed herein in connection with Figure 17B the deployable device support 1710 in the terminal device of the suspension cable in.

[0081] For clarity, Figure 6B a deployable device is shown that does not include the suspension cable 210, the buffer 605, and the hook 230.

[0082] Figure 7A A front view of the frame of the deployable device 750 and the cable attachment mechanism 701 is shown.

[0083] Figure 7B Shown is Figure 7APerspective view of the frame of the deployable device 750 and the cable attachment mechanism 701 therein.

[0084] In Figure 7A and Figure 7B the frame of the deployable device 750 and the cable attachment mechanism 701 can be, for example, within or fixed to the deployable device housing 510 in the deployable device 500.

[0085] The cable attachment mechanism 701 can releasably fix a deployable device (such as the deployable device 500) to a suspension cable such as the suspension cable 210. The cable attachment mechanism 701 can further separate the rotation of the deployable device from the rotation of the suspension cable so that the deployable device does not twist the suspension cable, as this may be unsafe, destructive or undesirable for the suspension cable. The cable attachment mechanism 701 can also releasably fix the deployable device to the terminal device of the suspension cable.

[0086] Figure 7A and Figure 7B show the activation mechanism 705, the cable clamp housing 710, the rotary coupling 715, the frame of the deployable device 750, the cable channel in the cable attachment mechanism 725, the rotary coupling flange 717, the lever arm 720, the hook 727, the connector 730 coupled to the terminal device, and the engage - disengage lever 735.

[0087] For clarity, Figure 8A a front view of the cable attachment mechanism 701 without including the frame of the deployable device 750 and including the suspension cable 210 is shown.

[0088] For clarity, Figure 8B a front view of the cable attachment mechanism 701 itself is shown.

[0089] For clarity, Figure 8C an isometric view of the cable attachment mechanism 701 itself is shown.

[0090] Figure 9A A front view of the components in the cable attachment mechanism 701 is shown. In addition to the components shown and discussed in connection with other figures, Figure 9A the cable holding fingers 915, the fixed core 905, and the bearing 910 are also shown.

[0091] Figure 9B An isometric view of the components in the cable attachment mechanism 701 is shown.

[0092] Figures 7A to 9BIt is shown that the suspension cable can pass through the cable channel 525 and reach the center of the cable attachment mechanism 701 through the cable channel in the cable attachment mechanism 725. The fingers 915 can be engaged to hold and / or clamp the suspension cable within the center of the cable attachment mechanism 701. The fingers 915 can be engaged by an actuator, such as by the activation mechanism 705 or another actuator; such an actuator can be, for example, electric or human-powered.

[0093] To prevent or reduce the rotational force transmission between the suspension cable and the deployable device, the deployable device can be fixed to the frame of the deployable device 750 and the frame of the deployable device 750 can be fixed to the rotary coupling 715. The rotary coupling 715 can be wound around the fixed core 905 and rotate independently on bearings 910, etc. The fixed core 905 can be releasably fixed to the terminal device of the suspension cable, for example, by a coupler 730, a lever arm 720, and a hook 727 that are coupled to the terminal device. As described herein in connection with Figure 17A and Figure 17B Embodiments of the coupler 730 coupled to the terminal device are discussed. The coupler 730, the lever arm 720, and the hook 727 coupled to the terminal device can be engaged or disengaged by an engage-disengage lever 735, etc., to contact and hold or release the terminal device. The engage-disengage lever 735 can be activated by an actuator (such as the activation mechanism 705, etc.). The activation mechanism 705 can be powered by electricity, such as in the presence of a motor or a linear actuator, etc., can be powered by hydraulic power, or can be powered by a human or manual input. The activation mechanism 705 can engage or disengage the cable holding fingers 915, the coupler 730 coupled to the terminal device, the lever arm 720, and the hook 727 relative to the terminal device of the suspension cable simultaneously or individually.

[0094] In this way, the cable attachment mechanism 705 can carry the mass of the deployable device on the core of the cable attachment mechanism, where the core can be coupled to the terminal device of the suspension cable, and where the terminal device can transfer rotational force to the suspension cable. Although the mass of the deployable device is carried on the terminal device, the bearings of the core (such as the bearing 910) allow the deployable device to rotate without transferring force or significant force (such as torque) to the suspension cable.

[0095] Using the elements discussed herein, the deployable device can be attached to a load, for example, by a cable or a cord, and may be able to rotate the load or rotate with the load on the suspension cable. Thus, the rotary bearing or coupling between the hook and the suspension cable can allow the load, the terminal device (such as a buffer and a hook), and the deployable device to rotate separately from the linkage. For example, when the deployable device is an SLCS, although the load may be subject to rotation or may be rotated by the SLCS, the SLCS can control the load (such as a stretcher) without transferring rotational force to the suspension cable.

[0096] Using the components discussed herein, the deployable device can be maintained within or near a hoist, vehicle, or by means of a deployable device module with minimal human or operator effort and deployed on a suspension cable.

[0097] Using the components discussed herein, the deployable device and deployable device module can obtain data and information from the hoist and can improve the functionality and operation of the deployable device.

[0098] Using the components discussed herein, the deployable device and deployable device module can control a hoist (such as the drum of a hoist) to control the z-axis at the end of the suspension cable. For example, controlling the z-axis can be controlling the height of a load, such as relative to a vehicle, the ground, or a target. For example, controlling the z-axis can be controlling the tension in the suspension cable or the tension of the suspension cable. For example, controlling the z-axis can be controlling the rate of ascent or descent of the end of the suspension cable.

[0099] Figure 10 The hoist and deployable device logic system 1001, remote interface logic component 1050, and hoist logic component 1080 are shown.

[0100] As Figure 10 shown in the embodiments in, the sensor group 1005, deployable device processor 1020, deployable device memory 1025, deployable device communication system 1030, deployable device output device 1015, and power management system 1040 can be located within the hoist and deployable device logic system 1001.

[0101] The sensor group 1005 can include a position sensor 1006, an orientation sensor 1007, an inertial sensor 1008, a proximity sensor 1009, a reference positioning sensor 1010, and a thrust sensor 1011.

[0102] The deployable device processor 1020 can be one or more processors, microcontrollers, and / or central processing units (CPUs). In some embodiments, the processor and microcontroller can be mounted on the same printed circuit board (PCB).

[0103] The deployable device memory 1025 generally can include random access memory (“RAM”), read-only memory (“ROM”), and a permanent non-transitory mass storage device, such as a disk drive or SDRAM (synchronous dynamic random access memory).

[0104] The deployable device memory 1025 may store program code of modules and / or software routines, such as program code of the navigation system 1026, the deployable device operation module 1100, and the hoist and deployable device data fusion and control module 1200, as well as data or information used by the modules and / or software routines, such as target data 1027 and mode or command status information 1028.

[0105] The deployable device memory 1025 may also store an operating system. These software components may be loaded into the deployable device memory 1025 from a non-transitory computer-readable storage medium using a drive mechanism associated with the non-transitory computer-readable storage medium (such as a floppy disk, magnetic tape, DVD / CD-ROM drive, memory card, or other similar storage medium). In some embodiments, the software components may also or alternatively be loaded by means other than a drive mechanism and a computer-readable storage medium (such as through a network interface).

[0106] The deployable device memory 1025 may also include a kernel, kernel space, user space, user-protected address space, and a data repository. As described herein, the deployable device memory 1025 may store one or more processes or modules (i.e., execute software applications). The processes that can be stored are in user space. A process may include one or more other processes. One or more processes may execute substantially in parallel, i.e., as several processes and / or several threads.

[0107] The kernel may be configured to provide an interface between user processes and the circuitry associated with the processor 1020. In other words, the kernel may be configured to manage access to the processor 1020, chipset, I / O ports, and peripheral devices through the processes. The kernel may include one or more drivers that are configured to manage elements of and / or communicate with the operating components of the deployable device (i.e., the processor 1020, chipset, I / O ports, and peripheral devices).

[0108] The deployable device processor 1020 may also include the deployable device memory 1025 or another data repository, or communicate with it through a bus and / or network interface.

[0109] The data sets used by the modules or routines in the deployable device memory 1025 may be represented by cells in a column or values separate from other values in a defined structure in a digital document or file. Although referred to herein as separate records or entries, a record may include more than one database entry. A database entry may be: representing or encoding numbers, numerical operators, binary values, logical values, text, string operators, references to other database entries, connections, conditional logic, tests, etc.

[0110] The deployable device communication system 1030 may include a wireless system 1031 (e.g., a wireless transceiver) and a wired system 1032. The deployable device output device 1015 includes a thrust controller 1016 via a thruster controller. The deployable device output device 1015 includes a hoist controller 1013 for controlling a hoist. The power management system 1040 regulates and distributes power from, for example, a battery. One or more data connectors, data buses, and / or network interfaces may connect various internal systems and logic components in the deployable device.

[0111] Various aspects of the system may be implemented in a special or dedicated computing device or data processor that is specifically programmed, configured, or constructed to execute one or more computer-executable instructions explained in detail herein. Various aspects of the system may also be practiced in a distributed computing environment where tasks or modules are performed by remote processing devices connected by a communication network (such as a local area network (LAN), a wide area network (WAN), the Internet, or any radio frequency communication technology). Data from the deployable device may have a very low bandwidth and may not be limited to a frequency or communication protocol. In a distributed computing environment, modules may be located in local memory storage devices and remote memory storage devices.

[0112] According to an embodiment, the hoist and deployable device logic system 1001 may work with a remote positioning unit, a remote interface, or a target node (“remote interface unit”) and its logic components (e.g., remote interface logic component 1050) and / or with the hoist and hoist logic components (e.g., hoist logic component 1080).

[0113] In an embodiment, the remote interface unit may be held, for example, by an operator or attached to a vehicle by a magnet, a bolt, or any other attachment mechanism. In an embodiment, the remote interface unit may be placed at a location on the ground or attached to, for example, a life-saving device or other floating device, a rescuer, a load to be lifted, a load to be delivered, or a specific operating location.

[0114] In an embodiment, the remote interface logic component 1050 may transmit inputs from an operator into the hoist and deployable device logic system 1001, such as transmitting command status and operation instructions into the hoist and deployable device operation module 1100. In an embodiment, the remote interface logic component 1050 may transmit information or data from the hoist logic component 1080 to the hoist and deployable device logic system 1001 and / or the operator, such as the status of the hoist, the length of the suspension cable released, the force or mass on the hoist from the suspension cable, etc.

[0115] The remote interface logic component 1050 can communicate with the hoist and deployable device logic system 1001 and / or the hoist logic component 1080 through a communication system 1070, which can be a wireless communication system 1071 or a wired communication system 1072. The output device 1060 from the remote interface 1050 can include information displayed on the screen 1061 and audio 1062. The input device 1065 to the remote interface 1050 to control the deployable device or the hoist can include commands communicated through the touch screen 1066, the joystick 1067, the microphone, the camera, one or more buttons, etc. In various embodiments, the remote interface 1050 can include one or more physical devices and / or logical devices that jointly provide the functions described herein. Examples of embodiments of the remote interface 1050 are shown and discussed in Figure 14A , Figure 14B , Figure 15A , Figure 15B and Figure 15C .

[0116] The remote interface logic component 1050 can also include a processor 1069 and a memory 1073, which can be similar to the processor 1020 and the memory 1025. The memory 1073 can include software or firmware code, instructions, or logic components for one or more modules (such as the remote interface module 1074) used by the remote positioning unit. For example, the remote interface module 1074 can provide a controller and an interface for the remote interface, such as to allow the remote interface to be turned on / off, pair the remote interface with the deployable device, input instructions, etc.

[0117] In an embodiment, the remote interface logic component 1050 can include a sensor group or a beacon, which is configured to communicate (such as wirelessly) with the hoist and deployable device logic system 1001 to provide, for example, a position reference. If the deployable device and the hoist are considered as the first sensor group, the second sensor group position can be the platform or vehicle of the suspension cable, and the third sensor group position can be the position of interest of the load (for example, for positioning to obtain or deliver the load).

[0118] Figure 10The hoist logic component 1080 is also shown. The hoist logic component 1080 may include a processor 1081 and a memory 1082, which may be similar to the processor 1020 and the memory 1025. The memory 1082 may include software or firmware code, instructions, or logic components for one or more modules used by a hoist, such as a hoist having an integrated deployable device operation module 1300. For example, a hoist having an integrated deployable device operation module 1300 may pair the hoist with a deployable device, output sensor data of the hoist to the deployable device, and receive and operate on local and remote instructions, such as to deploy or retract the deployable device, etc.

[0119] The hoist logic component 1080 may communicate with the hoist and the deployable device logic system 1001 through a communication system 1091, which may include a wireless transceiver 1091 or a wired transceiver 1092. The output device 1085 from the hoist logic component 1080 may include information or data from, for example, hoist sensors 1084, such as information or data from a cable length encoder, a drum torque encoder, a cable presence sensor (to sense the presence of a suspension cable in the hoist), a strain gauge, a device temperature sensor, a power sensor, etc. The input device 1086 for the hoist logic component 1080 to control the hoist may include commands from the hoist and the deployable device logic system 1001 and its modules, such as the commands of the deployable device operation module 1100 and the hoist and deployable device data fusion and control module 1200. The input device 1086 for the hoist logic component 1080 to control the hoist may also include commands from an operator, which may be conveyed through, for example, a remote interface logic component 1050 (such as a touch screen 1066, a joystick 1067, a microphone, a camera, one or more buttons, etc.).

[0120] Figure 11 The deployable device operation module 1100 of the deployable device according to an embodiment is shown, which includes a plurality of modes or command states. The instructions of the deployable device operation module 1100 or the instructions embodying the deployable device operation module may be stored in, for example, the deployable device memory 1025, and may be executed or implemented by, for example, the deployable device processor 1020 and the circuits, firmware, and other computer and logic hardware of the deployable device with which the deployable device operation module 1100 may interact.

[0121] In block 1105, the deployable device may be installed in the hoist and / or on the suspension cable. When the deployable device is installed in the hoist, refer to Figure 16A and Figure 16B, the locking member 1605 can engage with the deployable device protrusion 1615, or in other words, the first interlocking shape engages with the second interlocking shape, where the second interlocking shape has a structure that allows for one degree of freedom of movement between them. The locking member 1605 can block one degree of freedom of movement to lock the first and second interlocking shapes together.

[0122] When the deployable device is installed in the hoist, the suspension cable can be inserted into the suspension cable channel in the deployable device. When inserted into the suspension cable channel, the suspension cable can freely pass through the suspension cable channel in the open state. Refer to Figure 17A and Figure 17B , when deployed onto the suspension cable, the flange 1705 can engage with or be engaged to the deployable device support 1710 in the end device of the suspension cable, for example.

[0123] In the frame 1110, the deployable device can be activated and the deployable device operation module 1100 can be activated. In some embodiments, the deployable device operation module 1100 can be activated by the hoist or the hoist operation module. In some embodiments, the deployable device operation module 1100 can be initialized by pressing a button located on the deployable device. Near the button that can initialize the system, when another button is pressed, this button can immediately shut down the system. The system can also be initialized by an operator or process not directly near the system, such as remote initialization. One or more external operators or processes (including but not limited to rescue personnel at the end of the cable) can initialize the system by pressing a button on one or more remote interfaces 1050 wirelessly connected to the deployable device.

[0124] In an embodiment, the installation can be assisted or managed by the deployable device operation module 1100. For example, the deployable device operation module 1100 can be instructed to open or can open the channel for the suspension cable in the deployable device. For example, the deployable device operation module 1100 can sense the presence of the suspension cable in the channel using, for example, the hoist sensor 1084. For example, the deployable device operation module 1100 can be instructed to close or can close the channel for the suspension cable by activating a finger (such as finger 915). For example, the deployable device operation module 1100 can clamp itself to the suspension cable or be instructed to do so by the finger 915 or another clamp.

[0125] In block 1115, the deployable device operation module 1100 is active and receives one or more functional modes or command states selected by an operator or process. Proceeding to block 1116, within this block, the deployable device operation module 1100 executes the functional mode or command state, which may include the invocation and execution of the hoist and deployable device data fusion and control module 1200 as a subroutine or submodule to implement the functional mode or command state and conclude the functional mode or command.

[0126] In block 1120 and the functional mode or command state, the deployable device operation module 1100 may execute or invoke the hoist and deployable device data fusion and control module 1200 as a subroutine or submodule to implement the functional mode or command state.

[0127] The functional modes or command states of the system are:

[0128] Idle mode 1121: All internal systems of the deployable device are operating (e.g., the deployable device module observes its motion and calculates control or other actions), but the thrusters and hoist are turned off, maintaining only an idle speed, or the hoist is maintained at the current cable extension without actions affecting the load motion.

[0129] Maintain relative position mode 1122 with respect to the vehicle: The deployable device module activates the thrusters or hoist to stabilize the deployable device relative to the vehicle or the lifting origin below the vehicle. For example, when the deployable device is suspended by a load below a helicopter, the deployable device module may activate the thrusters and hoist so that the deployable device is directly below the helicopter and remains in the position with the lowest potential energy. For example, when the deployable device is suspended below a fixed-wing aircraft, the deployable device module may activate the thrusters and hoist to stay at a certain height relative to the vehicle, e.g., to counteract the "yo-yo" effect, and stay at the center of the vehicle's track. The deployable device module locates the vehicle's motion, determines the elasticity or other behavior of the suspension cable, and performs corrective actions using the thrusters and hoist necessary to prevent any other motion of the deployable device and the load. If the vehicle is traveling at a low speed, the deployable device module will use the thrusters and hoist to couple the speed of the deployable device to the vehicle so that the two entities move consistently. When the motion of the load or the deployable device is disturbed, the deployable device module provides thrust or activates the hoist in the direction opposite to the disturbance to counteract the disturbance and eliminate sway and the "yo-yo" effect or other unwanted motions, where the "yo-yo" effect is caused by the elasticity of the suspension cable or the helix in the suspension cable (which may be caused by the vehicle orbiting around the load).

[0130] Move to / Stop at Position Mode 1123: The deployable device module stabilizes the deployable device to a fixed position to counteract the effects of weather, minor vehicle movement, or changes in the height of the deployable device relative to the vehicle. This mode has the effect of eliminating all movement. In this mode, an operator or another process can send a desired target position to the deployable device via the Remote Interface Logic 1050. This can be achieved in at least the following ways:

[0131] Target Node Position 1124: The operator can place the remote positioning unit, remote interface, or target at the desired lower or lift position. The remote positioning unit will communicate wirelessly with the deployable device module to indicate the desired position, and the deployable device module responds by activating thrusters and hoists to maneuver to the desired position. This mode can also maintain the required tension on the suspension cables. The Remote Interface Logic 1050 can receive and display the position information of the entity.

[0132] User-Specified Position 1125: The operator or process can use the Remote Interface Logic 1050 to send a specified position (e.g., latitude and longitude coordinates, position selection on a map or in an image, etc.) to the deployable device module. Then, if already at that position, the deployable device module will use thrusters and / or hoists to hold the deployable device and the suspended load at the specified position or to stably guide the deployable device and the suspended load to the desired position. This mode can also maintain the required tension on the suspension cables. The deployable device module can simultaneously send information or data about, for example, position, distance, height, and suspension cable tension information to the Remote Interface Logic 1050 for display or communication to the operator, process, etc.

[0133] Hold Position Mode 1126: The deployable device module resists all movement and uses thrusters and hoists to maintain the current position of the deployable device, which is independent of the movement of the vehicle. This mode has the effect of buffering all movement of the deployable device. This mode has conditional responses related to vehicle speed, safety factor, and physical constraints, respectively.

[0134] Direct Control Mode 1127: Direct operation of the joystick or thrusters and hoists in three degrees of freedom (e.g., x-axis, y-axis, and z-axis) and rotation. Although the deployable device module can be fully closed-loop and may not require external control during operation, there is an option for the user to directly control the thrusters and hoists. The operator can directly control the position, rotation, thruster output level, suspension cable length, or suspension cable tension.

[0135] Obstacle Avoidance Module 1128: The deployable device module identifies the path of the deployable device and the load, identifies objects in the path, determines positions, rotations, thruster output levels, and suspension lengths at which obstacles can be avoided, and outputs commands to thrusters and / or hoists to avoid obstacles. For example, the obstacle avoidance module 1128 can receive and process sensor information to i) equalize the distance between the sensor position sensed in the environment (such as at the fan unit position) and an object (such as an obstacle), or ii) measure or receive the geometry of the load, measure the geometry of the obstacle sensed in the environment, determine or receive the position, orientation, and motion of the load, and pass over the load relative to the obstacle.

[0136] Position Mode 1129 Relative to a First Position and a Second Position: An operator or process can use, for example, the remote interface logic component 1050 to specify a first position (e.g., a lift or lower position) of the deployable device module; the operator or process can also specify a second position, such as the position of a vehicle, a position on the ground, etc., and can also specify the desired rate of change between the first position and the second position. The deployable device module activates the thrusters and hoists to stabilize the deployable device relative to the first position and then activates the thrusters and hoists to move the deployable device from the first position to the second position. The rate of change can be based on a percentage of the maximum rate of change that the deployable device operation module can achieve, whether specified by the operator or otherwise. This mode can also maintain the required tension on the suspension cable.

[0137] In block 1130, an operator or process can complete a functional mode or command status, for example, by obtaining a desired position, such as through a command from the operator or process, such as through a power loss, etc.

[0138] In block 1135, the deployable device module can activate the hoist to bring the deployable device into the hoist and can activate the thrusters to rotate the deployable device to a position compatible with being stowed in the hoist. The deployable device module can detect the time the deployable device is located in the hoist and detect the engagement of the interlock structure in the hoist and the deployable device (e.g. Figure 16A and Figure 16Bthe structure shown in), and detect whether the locking structure engages and the interlocking structures lock together. The deployable device module can detect the engagement of the deployable device with the interface for the deployable device in the hoist, and can activate communication services, power services, and other services for the interface of the deployable device. If the deployable device includes collapsible arms or other components, they can be folded. Thrusters and other components can be powered off. Cable retention components such as clamps or fingers can be released. The deployable device can be detached from the end device of the suspension cable and / or the suspension cable. The load can be separated from the hook. The suspension cable can be separated from the hoist at the top of the deployable device. The cable or other fasteners in the stowed state can be fixed to the deployable device. The deployable device can be stowed in a charger or other location.

[0139] At completion block 1199, if the operation in block 1135 is not performed, the deployable device operation module 1100 can be closed, for example, by activating a button or other control on the deployable device, on the interactive display, or on the remote interface of the deployable device.

[0140] Figure 12 A hoist for a deployable device and a deployable device data fusion and control module 1200 according to an embodiment are shown. Instructions of the hoist and deployable device data fusion and control module 1200 or instructions embodying it can be stored, for example, in the deployable device memory 1025 and can be executed or carried out by, for example, the deployable device processor 1020, including by circuits, firmware, and other computer and logic hardware of the deployable device, the hoist logic component 1080, and the remote interface logic component 1050 with which the hoist and deployable device data fusion and control module 1200 can interact.

[0141] The hoist and deployable device data fusion and control module 1200 can operate in a closed iterative loop to know its position and movement near real-time, perform a set of calculations to determine the most desired system response, and send the desired response to the air propulsion system thruster array and in the hoist to reduce cable sway during operation and control the z-axis of the deployable device and the load. This process can be continuous when the system has power.

[0142] At block 1205, the hoist and deployable device data fusion and control module 1200 can perform data acquisition using sensors and sensor data or information from the hoist, where the sensors include (but are not limited to) cameras, accelerometers, gyroscopes, magnetometers, inclinometers, directional encoders, radio frequency relative bearing systems, gravity sensors, microelectromechanical system (MEMS) sensors, global positioning system (GPS), lidar / radar, machine vision, rangefinders, ultrasonic proximity sensors (such as the sensors in sensor set 1005). For example, the hoist can provide information or data about the length of the suspension cable, the tension or torque on the hoist or its drum, the mass on the hoist or its drum, etc. However, this raw data or information may be affected by noise, out-of-range values, and other errors and uncertainties. At block 1205, the hoist and deployable device data fusion and control module 1200 can also filter the acquired data or information to look for out-of-range values, frequency oscillations, etc.

[0143] At block 1210, the hoist and deployable device data fusion and control module 1200 combines the data or information from the sensors and the hoist in block 1205 with the previous state of the system model determined at the previous iteration in block 1210, a process also described as data fusion or online parameter estimation and online state estimation. Block 1210 determines the deviation between the currently measured state or parameter and the previously predicted state or parameter. This block estimates the current parameters of the system and predicts the near future parameters of the system based on the data or information in block 1205, such as mass or weight, the length of the cable below the vehicle or the distance below the vehicle, and the moment of inertia of the deployable device (and load). This block estimates the current state of the system and predicts the near future state of the system based on the data or information in block 1205, such as position (including altitude), orientation, motion, environmental disturbances or influences, etc. This block compares the current state or parameter with the previously predicted state or parameter and determines the deviation between the current state or parameter and the predicted state or parameter. The sensor data can be processed by the system model using, for example, the non-linear characteristics of a Kalman filter to predict the near future state and parameters of the system and estimate the current state and parameters of the system. The closed-loop iterative control method performed in this block can include a fuzzy-tuned proportional-integral-derivative feedback controller that has two-way communication with an advanced control method including a deep learning neural network and a future propagation Kalman filter, allowing real-time (or "online") system identification. Block 1210 is capable of estimating the current elements of the state or parameter or predicting the near future elements of the state or parameter without data or information from the hoist, such as the distance below the vehicle, the mass, position, and movement of the deployable device and load. However, using data or information from the hoist can improve the estimation and prediction of the state and parameters.

[0144] At block 1217, the hoist and deployable device data fusion and control module 1200 receives a function mode or command status selected by a user, process, or operator; e.g., the function mode or command status of the deployable device operation module 1100 in block 1116. This can include coordinates, altitude, desired rate, etc.

[0145] At block 1220, the hoist and deployable device data fusion and control module 1200 obtains the state and parameter estimates and state and parameter predictions 1210, as well as the deviation between the current state and parameters and the previously predicted state and parameters (which is notified by the function mode or command status 1217 selected by the user or process and additional feedback from the thrust and orientation mapping 1225 and output control 1235), and determines how the deployable device should move to achieve the function mode or command status input at block 1217, such as by outputting force from a thruster or hoist.

[0146] The algorithm output is sent to the motion controller, from which the desired thrust response is sent via phase control to the electric ducted fan and / or to the hoist for output to the winch motor. The net thrust output is mapped in real time via an encoder and load cell sensor and then sent back to the hoist and controller for closed-loop control.

[0147] At block 1230, the hoist and deployable device data fusion and control module 1200 maps how the deployable device should move to the fan, potential fan, hoist, and potential hoist output devices to generate a fan mapping and a hoist mapping to control the thrusters and hoist to achieve the determined thrust, orientation, and altitude of the deployable device.

[0148] At block 1235, the hoist and deployable device data fusion and control module 1200 applies the fan and hoist mappings to output a control signal to the fan or thruster or to the hoist (or an electronic component controlled by or controlling it) to achieve the determined thrust and orientation of the deployable device, apply the commanded control output, and achieve a dynamic response in the form of thrust from the fan, and wind in or out the suspension cable via the hoist.

[0149] At completion block 1299, the hoist and deployable device data fusion and control module 1200 may end or may return to the module that may have called it.

[0150] Figure 13A hoist with an integrated deployable device operation module 1300 according to an embodiment is shown. Instructions for or embodying the hoist with the integrated deployable device operation module 1300 may be stored, for example, in the hoist memory 1082 and may be executed or carried out by, for example, the hoist processor 1081 and by the hoist's circuitry, firmware, and other computer and logic hardware, the hoist logic component 1080, and the remote interface logic component 1050 with which the hoist and the deployable device data fusion and control module 1200 may interact.

[0151] At block 1305, the hoist with the integrated deployable device operation module 1300 may obtain information or data from sensors of the hoist, such as the hoist sensor 1084.

[0152] At block 1310, the hoist with the integrated deployable device operation module 1300 may pair itself with its hoist and / or with a remote device or process. Pairing may require authentication and authorization in one or both of the devices or processes.

[0153] At block 1315, the hoist with the integrated deployable device operation module 1300 may output hoist sensor data or information to a paired remote device or process.

[0154] At decision block 1320, it may be determined whether the hoist is to act on local instructions or remote instructions. For example, the hoist with the integrated deployable device operation module 1300 may act on remote instructions unless a local instruction is received, in which case a local override may be activated.

[0155] If negative or equivalent at decision block 1320, the hoist with the integrated deployable device operation module 1300 may proceed to open-loop block 1325. The hoist with the integrated deployable device operation module 1300 may iterate on open-loop block 1325 to closed-loop block 1340.

[0156] At block 1330, the hoist with the integrated deployable device operation module 1300 may receive remote instructions, such as instructions from the deployable device operation module 1100, from a remote interface, etc. The instruction may be, for example, an instruction to pay out a suspension cable, winch in a suspension cable, or maintain a tension or other force on the suspension cable. The instruction may be to pay out or winch in a specific amount of cable, or to pay out or winch in until another instruction is received to stop. The instruction may specify the rate at which the operating drum is to operate and / or the maximum or minimum tension or other force to be achieved by the drum. The hoist with the integrated deployable device operation module 1300 may determine the minimum or maximum tension, rate, or force. The instruction may be to activate an actuator of the hoist, such as an actuator for deploying the deployable device from the hoist or for securing the deployable device to the hoist.

[0157] At block 1335, a hoist having an integrated deployable device operation module 1300 can output control to implement remote instructions, such as paying out a suspension cable, reeling in a suspension cable, or maintaining a tension or other force on the suspension cable.

[0158] At block 1345, which can follow an affirmative or equivalent determination at decision block 1320, a hoist having an integrated deployable device operation module 1300 can receive local instructions, such as instructions from a crew member of the vehicle or an interface of the hoist, which are given a higher priority than instructions from another source. The instruction can be, for example, an instruction to pay out a suspension cable, reel in a suspension cable, or maintain a tension or other force on the suspension cable. The instruction can be to pay out or reel in a specific amount of cable, or to pay out or reel in until another instruction is received to stop. The instruction can specify the rate at which the operating drum is to be operated and / or the maximum or minimum tension or other force to be achieved by the drum. A hoist having an integrated deployable device operation module 1300 can determine a minimum or maximum tension, rate, or force. The instruction can be to activate an actuator of the hoist, such as an actuator for deploying a deployable device from the hoist or for securing the deployable device to the hoist.

[0159] At completion block 1299, a hoist having an integrated deployable device operation module 1300 can end, can shut down the hoist, and / or can return to the process that may have called the hoist.

[0160] Figure 14A A first view of a remote interface 1400 for a hoist and a deployable device according to an embodiment is shown. Figure 14B A second view of the Figure 14A remote interface 1400 according to an embodiment is shown. The remote interface 1400 can allow control of and / or communication with a deployable device and / or a hoist. Specific types of control devices are discussed in the following examples, but the functionality and / or types of control devices should not be limited thereto. For example, a switch can be interchanged with a button or a lever. The button can be a mechanically operated button or can be a virtual button. One of ordinary skill in the art can interchange the control devices in the following examples with alternative devices without undue experimentation or burden. In an embodiment, the remote interface 1400 can be a suspension-mounted manual operation controller configured to control the operation of a deployable device and / or a hoist.

[0161] The available controller types can be any type necessary to operate the deployable device and hoist, attached mechanical systems, and / or payloads before or after attachment to the suspension cable and / or hoist. In some embodiments, a non-limiting group of controllers can include a warning light 1402, an over-temperature warning light 1404, a deployment status light 1406, a deployment button 1408, a boom toggle switch 1410, a rotation control switch 1412, a hoist vertical controller 1414, a status selector switch 1416, and a data and power port 1418.

[0162] As a non-limiting example, the warning light 1402 can provide a configurable alert for potential hazardous conditions. The over-temperature warning light 1404 can provide a configurable alert indicating that the mechanical system is experiencing an over-temperature condition. The deployment status light 1406 can emit green when the deployable device is deployed, can emit green when the deployable device is in a position pending retraction, or provide other similar indications of the mechanical system status. When pressed, the deployment button 1408 can initiate a deployment process, such as in a hoist having an integrated deployable device module 1300. The deployment button 1408 can remain depressed after being initially pressed to indicate that the deployable device has been deployed. If pressed again, the deployment button can return to its unpressed position to indicate that the deployable device has been retracted. If a boom or arm connects the hoist or hoist housing to the vehicle, the boom toggle switch 1410 can move the boom from a storage position to an active deployment position. The rotation control switch 1412 can allow direct control of the deployable device orientation. Such control can depend on the pressing of a controller live trigger. The hoist vertical controller 1414 can raise or lower the hoist cable, thereby controlling the up / down movement of the hoist payload.

[0163] In an embodiment, the status selector switch 1416 can control the status or functional mode of the deployable device. For example, the position of the switch can be used to select whether the deployable device is in a "stable" state, where the fan of the switch is used to provide rotational or lateral power to counteract load movement and stabilize the mode. The switch in another position can be used to place the mechanical system in an "idle" state, where the deployable device is deployed on the suspension cable but does not take any additional action.

[0164] In an embodiment, the data and power port 1418 can be a USB or equivalent connection port. A connection to this port can provide a path for any other system interfaces necessary for the controller electronics to operate or monitor the elevator integrated system and / or an attached payload. As a non-limiting example, the port can receive power and communicate with a remote interface. The remote interface 1400 can have a wired or wireless data connection to the elevator logic and to the deployable device logic. In some embodiments, the logic for the remote interface 1400 can be included within the remote interface 1400, which can still receive power from a proximal power system through the power port 1418.

[0165] As Figure 14B shown, a controller provided on the underside of the remote interface 1400 can include a controller live trigger 1417 and a configurable second trigger 1419. The controller live trigger 1417 can be used as a safety mechanism to allow certain control unit actions only when the controller live trigger 1417 is pressed. For example, a rotary control switch can be operable only if it is activated simultaneously with the pressure on the controller live trigger 1417. The configurable second trigger 1419 can be provided to allow additional functionality or safety measures to be implemented for a particular deployable system.

[0166] Figure 15A A rear view of a remote suspension or remote interface 1500 of a deployable device according to an embodiment is shown. Figure 15B An isometric view of a remote interface 1500 of a deployable device according to an embodiment is shown. Figure 15C A front view of a remote interface 1500 of a deployable device according to an embodiment is shown. These figures show, for example, an activation controller 1540, an on / off switch 1545, a status selector 1550, and a manual / rotary controller 1551. The on / off switch 1545 can be used to turn the remote suspension 1500 on or off. The status selector 1550 can be used to select a command status of the deployable device operation module 1100, as discussed in connection with Figure 11 As such. The activation controller 1540 can be used to activate or deactivate the operation module 1100 in or with respect to a command status selected or indicated by the status selector 1550. When the status selector 1550 has been used to select, for example, the direct control mode 1127, the manual / rotary controller 1551 can be used to manually activate the fan to rotate or translate the load or raise or lower the elevator.

[0167] In this manner, the cable attachment mechanism of the deployable device can carry the mass of the deployable device on the core of the cable attachment mechanism, where the core can be coupled to the terminal device of the suspension cable, and where the terminal device can transfer rotational force to the suspension cable. Although the mass of the deployable device is carried on the terminal device, the bearings of the core allow the deployable device to rotate without transferring force or significant force (such as torque) to the suspension cable.

[0168] Accordingly, the deployable device can be attached to a load, for example, by a strap or cable and may be able to rotate the load or rotate with the load on the suspension cable. Thus, a rotational bearing or coupler between the hook and the suspension cable can allow the load, the terminal device (such as a buffer and a hook), and the deployable device to rotate separately from the linkage. For example, when the deployable device is an SLCS, although the load may be rotated or may be rotated by the SLCS, the SLCS can control the load (such as a stretcher) without transferring rotational force to the suspension cable.

[0169] Accordingly, the deployable device can be maintained within or near the hoist, vehicle, or the vehicle with minimal human or operator effort and by or with the deployable device module and deployed on the suspension cable.

[0170] Accordingly, the deployable device, the deployable device module, and the hoist module can control the hoist (such as the drum of the hoist) to control the z-axis at the end of the suspension cable.

[0171] For example, controlling the z-axis can be controlling the height of the load, such as the height relative to the vehicle, the ground, or the target. For example, controlling the z-axis can be controlling the tension in the suspension cable or the tension of the suspension cable. For example, controlling the z-axis can be controlling the rate of ascent or descent of the end of the suspension cable.

[0172] Although specific embodiments have been shown and described herein, those of ordinary skill in the art will understand that alternative and / or equivalent specific embodiments may be substituted for the specific embodiments shown and described without departing from the scope of the present disclosure. For example, although various embodiments have been described in the context of a helicopter, crane, or fixed-wing vehicle, other vehicles may be used. This application is intended to cover any modifications or variations of the embodiments discussed herein.

[0173] The following are non-limiting examples:

[0174] Example 1: A hoist and deployable device system for a vehicle, where the vehicle carries a load suspended from the vehicle by a cable, and where the hoist and deployable device system includes: a hoist mounted to the vehicle, a docking device for the deployable device, where the hoist includes a drum for the cable and at least one of a cable length encoder or a drum force encoder, where the docking device includes an interface for the deployable device and the deployable device, where the deployable device includes a computer processor and a memory, where the memory includes a deployable device module, and when the deployable device module is executed by the computer processor, the deployable device module obtains at least one of the cable length from the cable length encoder or the force on the drum from the drum force encoder, and controls at least one of the deployable device, the drum, or the docking interface at least in part based thereon.

[0175] Example 2: The hoist and deployable device system according to Example 1, where the deployable device includes a suspended load control device, where the suspended load control device includes a thruster and a sensor set, where the deployable device module is a load control module, and when the load control module is executed by the computer processor, the load control module estimates or predicts the state or parameters of the suspended load control device based on at least one of the sensor data from the sensor set, the cable length, or the force on the drum.

[0176] Example 3: The hoist and deployable device system according to Example 2, where the state of the suspended load control device includes at least one of position, orientation, or motion, and where the parameters of the suspended load control device include at least one of the cable length or the distance below the vehicle, the mass or force on the drum, and the moment of inertia of the suspended load control device.

[0177] Example 4: The hoist and deployable device system according to Example 3, where the position includes at least one of the coordinates on the x-axis, y-axis, and z-axis, where the orientation includes the orientation relative to the normal orientation of the suspended load control device, and where the motion includes at least one of rotation, pendulum motion, or movement from a first position to a second position.

[0178] Example 5: The hoist and deployable device system according to Example 2, where the load control module controls at least one of the thruster or the drum to affect the near future state or parameters of the suspended load control device.

[0179] Example 6: The hoist and deployable device system according to Example 2, wherein the estimated state or parameter includes the height or z-axis coordinate of the suspended load control device, and wherein the load control module controls the drum to affect the near future state or parameter of the suspended load control device, and the near future state or parameter includes the height or z-axis coordinate of the suspended load control device.

[0180] Example 7: The hoist and deployable device system according to Example 6, wherein the load control module controls the drum to affect the near future state or parameter of the suspended load control device so as to maintain the load control device at a certain height or change the height of the load control device.

[0181] Example 8: The hoist and deployable device system according to Example 7, wherein changing the height of the load control device includes lifting or lowering the load control device at a position.

[0182] Example 9: The hoist and deployable device system according to Example 6, wherein the vehicle includes one of a helicopter, a crane or a fixed-wing aircraft, and wherein controlling the drum to affect the near future state or parameter of the suspended load control device includes reeling in or out the cable from the drum.

[0183] Example 10: The hoist and deployable device system according to Example 2, wherein the load control module estimates or predicts the state or parameter by combining at least one of the sensor data from the sensor group, the cable length or the force acting on the drum by a non-linear filter, and determines the deviation between the previously predicted state or parameter and the currently measured state or parameter.

[0184] Example 11: The hoist and deployable device system according to Example 10, wherein the load control module is further used to predict the near future state or parameter based on the currently measured state or parameter and using the feedback of at least one of the functional mode or command status, thrust and orientation mapping or fan mapping from the operation module.

[0185] Example 12: The hoist and deployable device system according to Example 10, wherein the functional mode or command status includes at least one of an idle state, maintaining a relative position or location with respect to the vehicle, maintaining a relative position or location with respect to a target location, maintaining a relative position or location with respect to a location on the ground, moving to a certain position, moving between a first position and a second position, maintaining a position, avoiding an obstacle or direct control.

[0186] Example 13: The elevator and deployable device system according to Example 1, wherein the interface for the deployable device includes at least one of a communication interface, an electrical interface, or a docking interface.

[0187] Example 14: The elevator and deployable device system according to Example 13, wherein the communication interface provides signal communication to the deployable device, wherein the electrical interface provides power to the deployable device, and wherein the docking interface secures the deployable device to the docking device.

[0188] Example 15: The elevator and deployable device system according to Example 1, wherein the cable includes a terminal device, and wherein the terminal device includes a deployable device support, wherein the deployable device support secures the deployable device to the top of the terminal device.

[0189] Example 16: The elevator and deployable device system according to Example 15, wherein the terminal device includes at least one of a cable hook or a buffer.

[0190] Example 17: The elevator and deployable device system according to Example 1, wherein the deployable device includes at least one of a cable retainer or a coupler that couples to the terminal device of the cable.

[0191] Example 18: The elevator and deployable device system according to Example 17, wherein the cable retainer secures the deployable device to or around the cable, and wherein the coupler that couples to the terminal device of the cable secures the deployable device to the terminal device of the cable.

[0192] Example 19: The elevator and deployable device system according to Example 17, wherein the coupler that couples to the terminal device of the cable includes at least one of a releasable hook or a swivel bearing, wherein the swivel bearing allows the deployable device to rotate without transferring rotational force from the deployable device to the cable.

[0193] Example 20: The elevator and deployable device system according to Example 17, wherein the cable retainer includes a cable channel and a cable channel closure, and wherein the deployable device module engages or disengages from the cable channel closure.

[0194] Example 21: The elevator and deployable device system according to Example 1, wherein controlling the docking device includes engaging or disengaging the docking device from the deployable device.

[0195] Example 22: A computer-implemented method for carrying a deployable device suspended from a hoist of a vehicle by a cable, comprising: obtaining, by a processor and a memory in the deployable device, at least one of a cable length or a force on the hoist from the deployable device and controlling at least one of the deployable device, a load, the hoist, or a docking device of the hoist at least in part based on at least one of the cable length or the force on the hoist.

[0196] Example 23: The method according to Example 22, wherein the hoist comprises a drum for the cable and at least one of a cable length encoder or a drum force encoder, wherein the force on the hoist is measured by the drum force encoder, and the method further comprises determining the cable length from the cable length encoder and determining or obtaining at least one of a mass of the load and a mass of the deployable device from the drum force encoder.

[0197] Example 24: The method according to Example 22, wherein the deployable device comprises a suspended load control device, wherein the suspended load control device comprises at least one of a thruster and a sensor set, and the method further comprises estimating or predicting a state or a parameter of the deployable device by the processor and the memory in the deployable device and based on at least one of sensor data from the sensor set, the cable length, or the force on the hoist.

[0198] Example 25: The method according to Example 24, wherein estimating or predicting the state or the parameter comprises combining, by a non-linear filter, at least one of the sensor data from the sensor set, the cable length, or the force on the hoist and determining a deviation between a previously predicted state or parameter and a currently measured state or parameter.

[0199] Example 26: The method according to Example 24, further comprising controlling at least one of the thruster and the drum according to the estimated or predicted state or parameter to affect a near future state or parameter of the deployable device.

[0200] Example 27: The method according to Example 26, further comprising predicting the near future state or parameter based on the currently measured state or parameter and using feedback from at least one of a functional mode or a command state, a thrust and orientation mapping, or a fan mapping from an operation module.

[0201] Example 28: The method according to Example 27, wherein the functional mode or command state includes at least one of an idle state, maintaining a relative position or location with respect to the vehicle, maintaining a relative position or location with respect to a target position, maintaining a relative position or location with respect to a position on the ground, moving to a certain position, moving between a first position and a second position, maintaining a position, avoiding an obstacle, or direct control.

[0202] Example 29: The method according to Example 27, wherein the state or parameter includes a height or z-axis coordinate, and the method further includes controlling the drum to affect a near-future state or parameter of the suspended load control device, wherein the near-future state or parameter includes the height or z-axis coordinate of the suspended load control device.

[0203] Example 30: The method according to Example 27, wherein controlling the drum to affect a near-future state or parameter of the suspended load control device includes paying out or winding in the cable from the drum, and wherein the functional mode or command state includes maintaining the load control device at a certain height or changing the height of the load control device.

[0204] Example 31: The method according to Example 22, wherein the hoist includes a docking device for the deployable device.

[0205] Example 32: The method according to Example 31, wherein the docking device includes at least one of a communication interface for the deployable device, an electrical interface for the deployable device, and a docking interface for the deployable device, and the method further includes providing signal communication to the deployable device through the communication interface, providing power to the deployable device through the electrical interface for the deployable device, and fixing the deployable device to the docking device using the docking interface.

[0206] Example 33: The method according to Example 22, wherein the cable includes a terminal device, and wherein the terminal device includes a deployable device support, and the method further includes fixing the deployable device to the top of the terminal device on the deployable device support.

[0207] Example 34: The method according to Example 33, wherein the terminal device includes at least one of a cable hook or a buffer.

[0208] Example 35: The method according to Example 22, wherein the deployable device includes at least one of a cable retainer or a coupler for a terminal device coupled to the cable, and the method further includes fixing the deployable device to the cable using the cable retainer or around the cable or fixing the deployable device to the terminal device of the cable using the coupler for the terminal device coupled to the cable.

[0209] Example 36: The method according to Example 35, wherein the coupler for the terminal device coupled to the cable includes at least one of a releasable hook or a rotary bearing, and the method further includes controlling the orientation of the deployable device without transferring rotational force from the deployable device to the cable due to the rotary bearing.

[0210] Example 37: The method according to Example 35, wherein the cable retainer includes a cable channel and a cable channel closure, and the method further includes engaging or disengaging the cable channel closure.

[0211] Example 38: The method according to Example 22, wherein controlling the docking device includes engaging the docking device to the deployable device or disengaging the docking device from the deployable device.

[0212] Example 39: A hoist and deployable device assembly for a vehicle, wherein the vehicle carries a deployable device suspended from the vehicle by a cable, the hoist and deployable device assembly including: means for mounting to the hoist of the vehicle and means for a docking device for the deployable device, wherein the hoist includes a drum for the cable and at least one of means for determining the cable length or means for determining the force on the drum, wherein the means for the docking device includes means for an interface for the deployable device and the deployable device, wherein the deployable device includes means for obtaining at least one of the cable length or the force on the drum and means for controlling at least one of the deployable device, the drum, or the docking device at least partially based on the cable length or the force on the drum.

[0213] Example 40: The hoist and deployable device assembly for the vehicle according to Example 39, wherein the deployable device further includes means for controlling the deployable device, wherein the means for controlling the deployable device includes means for at least one of a thruster and a sensor set, and the deployable device further includes means for estimating or predicting the state or parameters of the deployable device based on at least one of sensor data from the sensor set, the cable length, or the force on the drum.

[0214] Example 41: The elevator and deployable device for the vehicle according to Example 40, wherein the state includes at least one of position, orientation, or motion.

[0215] Example 42: The elevator and deployable device for the vehicle according to Example 40, further comprising means for controlling at least one of the thrusters or the winches based on the predicted or estimated state or parameter to affect the near future state or parameter of the deployable device.

[0216] Example 43: The elevator and deployable device for the vehicle according to Example 40, further comprising means for estimating or predicting a state or parameter by combining at least one of the sensor data from the sensor group, the cable length, or the force acting on the winch through a non-linear filter, and means for determining the deviation between the previously predicted state or parameter and the currently measured state or parameter.

[0217] Example 44: The elevator and deployable device for the vehicle according to Example 43, further comprising means for predicting the near future state or parameter based on the currently measured state or parameter and using feedback from at least one of the functional mode or command status, thrust and orientation mapping, or fan mapping from the operation module.

[0218] Example 45: The elevator and deployable device for the vehicle according to Example 44, wherein the functional mode or command status includes at least one of an idle state, maintaining a relative position or location with respect to the vehicle, maintaining a relative position or location with respect to a target location, maintaining a relative position or location with respect to a location on the ground, moving to a certain position, moving between a first position and a second position, maintaining a position, avoiding an obstacle, or direct control.

[0219] Example 46: The elevator and deployable device for the vehicle according to Example 39, wherein the means for the interface for the deployable device includes at least one of means for providing signal communication to the deployable device, means for providing power to the deployable device, and means for fixing the deployable device to the docking device.

[0220] Example 47: The elevator and deployable device for the vehicle according to Example 39, wherein the cable includes means for a terminal device, and wherein the terminal device includes means for fixing the deployable device to the top of the terminal device.

[0221] Example 48: The hoist and deployable device arrangement for the vehicle according to Example 47, wherein the device for the terminal device includes at least one of a device for a cable hook or a device for a buffer.

[0222] Example 49: The hoist and deployable device arrangement for the vehicle according to Example 39, wherein the deployable device includes at least one of a device for a cable holder or a device for a coupler for a terminal device coupled to the cable.

[0223] Example 50: The hoist and deployable device arrangement for the vehicle according to Example 49, wherein the device for the cable holder includes a device for fixing the deployable device to the cable or around the cable, and wherein the device for the coupler for the terminal device coupled to the cable includes a device for fixing the deployable device to the terminal device of the cable.

[0224] Example 51: The hoist and deployable device arrangement for the vehicle according to Example 49, wherein the device for the coupler for the terminal device coupled to the cable includes at least one of a device for a releasable hook or a device for allowing the deployable device to rotate without transmitting rotational force from the deployable device to the cable.

[0225] Example 52: The hoist and deployable device arrangement for the vehicle according to Example 49, wherein the device for the cable holder includes a device for a cable passage, a device for a cable passage closure, and a device for engaging or disengaging the cable passage closure.

[0226] Example 53: The hoist and deployable device arrangement for the vehicle according to Example 39, wherein the device for controlling the docking device includes a device for engaging the docking device to the deployable device or disengaging it from the deployable device.

[0227] Example 54: One or more computer-readable media including instructions, wherein the instructions cause a computer device to obtain at least one of a cable length of a cable between a hoist and a deployable device on a cable in a vehicle or a force on the hoist from the deployable device in response to execution of the instructions by a processor of the computer device and to control at least one of the deployable device, a drum of the hoist, or a docking device of the hoist at least in part based on at least one of the cable length or the force on the hoist.

[0228] Example 55: The computer-readable medium according to Example 54, wherein the instructions further cause the computer device to estimate or predict a state or parameter of the deployable device and determine a deviation between a previously predicted state or parameter and a currently measured state or parameter by combining sensor data from a sensor group, the cable length, or at least one of the forces acting on the drum through a non-linear filter.

[0229] Example 56: The computer-readable medium according to Example 55, wherein the instructions further cause the computer device to control at least one of a thruster or the drum based on the estimated or predicted state or parameter to affect a near-future state or parameter of the suspended load control device.

[0230] Example 57: The computer-readable medium according to Example 55, wherein the instructions further cause the computer device to predict the near-future state or parameter based on the currently measured state or parameter and using feedback from at least one of a functional mode or command state, a thrust and orientation map, or a fan map from an operation module.

[0231] Example 58: The computer-readable medium according to Example 57, wherein the functional mode or command state includes at least one of an idle state, maintaining a relative position or location with respect to a vehicle, maintaining a relative position or location with respect to a target location, maintaining a relative position or location with respect to a location on the ground, moving to a certain position, moving between a first position and a second position, maintaining a position, obstacle avoidance, or direct control.

[0232] Example 59: The computer-readable medium according to Example 57, wherein the functional mode or command state enables the instructions to cause the computer device to maintain the deployable device at a certain height or change the height of the deployable device by paying out or taking in the cable from the drum.

[0233] Example 60: The computer-readable medium according to Example 54, wherein the instructions further cause the computer device to perform at least one of the following: providing signal communication to the deployable device, providing power to the deployable device, and securing the deployable device to a docking device for the deployable device.

[0234] Example 61: The computer-readable medium according to Example 54, wherein the instructions further cause the computer device to secure the deployable device to the top of a terminal device on a deployable device support, wherein the cable includes the terminal device, and wherein the terminal device includes the deployable device support.

[0235] Example 62: The computer-readable medium according to Example 61, wherein the terminal device includes at least one of a cable hook or a buffer.

[0236] Example 63: The computer-readable medium according to Example 54, wherein the instructions further cause the computer device to perform at least one of the following: securing the deployable device to the cable using a cable retainer or around the cable or securing the deployable device to the terminal device of the cable using a coupler of the terminal device coupled to the cable.

[0237] Example 64: The computer-readable medium according to Example 63, wherein the instructions further cause the computer device to control the orientation of the deployable device without transferring rotational force from the deployable device to the cable due to a rotary bearing.

[0238] Example 65: The computer-readable medium according to Example 63, wherein the instructions further cause the computer device to engage or disengage a cable channel closure in the cable channel.

[0239] Example 66: The computer-readable medium according to Example 54, wherein the instructions further cause the computer device to engage or disengage the docking device from the deployable device.

Claims

1. A deployable device system for a vehicle, wherein the vehicle carries a load suspended from the vehicle by a cable, wherein the load includes a deployable device, and wherein the deployable device system comprises: A docking device for the deployable device and the deployable device, wherein the docking device includes an electrical interface for the deployable device, wherein the deployable device is connected to the electrical interface and recharges a rechargeable battery of the deployable device through the electrical interface, wherein the deployable device is separated from the docking device and the electrical interface for the deployable device, wherein the deployable device includes a computer processor and a memory, wherein the memory includes a deployable device module, and when the deployable device module is executed by the computer processor, the deployable device module at least partially uses the power from the rechargeable battery of the deployable device to execute functions or commands, the deployable device includes a suspended load control device, wherein the load is fixed to the suspended load control device, and wherein the suspended load control device includes a thruster and a sensor set, wherein the suspended load control device, the thruster and the sensor set are located at or near the load position at the end of the cable and rotate separately from the cable without transmitting rotational force to the cable, wherein the deployable device module is a load control module, and when the load control module is executed by the computer processor, the load control module at least partially uses the power from the rechargeable battery of the deployable device to execute the functions or the commands, and wherein at least partially using the power from the rechargeable battery of the deployable device to execute the functions or the commands includes estimating or predicting the state or parameters of the suspended load control device based on sensor data from the sensor set and controlling the thruster to affect the rotation of the suspended load control device and the load without transmitting rotational force to the cable, wherein the deployable device includes a fan unit, and the thruster is a thruster in the fan unit.

2. The deployable device system according to claim 1, wherein the load control module is retracted to a compatible position in the docking device by controlling the thruster to affect the rotation of the suspended load control device.

3. The deployable device system according to claim 2, wherein at least partially using the power from the rechargeable battery of the deployable device to execute the functions or the commands further includes controlling the thruster to affect the movement of the suspended load control device and the load from a first position to a second position.

4. The deployable device system according to claim 1, wherein estimating or predicting the state or the parameters of the suspended load control device based on the sensor data from the sensor set includes predicting a near future state or parameter based on a currently measured state or parameter and using feedback from at least one of a function mode or command state, thrust and orientation mapping, or fan mapping from an operation module.

5. The deployable device system according to claim 1, wherein estimating or predicting the state or parameter of the suspended load control device based on the sensor data includes combining the sensor data from the sensor group in a filter and determining a deviation between a previously predicted state or parameter and a currently measured state or parameter.

6. The deployable device system according to claim 1, wherein the vehicle further includes a hoist, wherein the hoist includes a drum for the cable, and wherein performing the function or command using at least in part the power from the rechargeable battery of the deployable device includes controlling the drum for the cable to control the height or z-axis coordinate of the suspended load control device and the load fixed to the suspended load control device.

7. The deployable device system according to claim 1, wherein the docking device includes a docking interface, wherein the docking interface engages or disengages the docking device from the deployable device, and wherein performing the function or command using at least in part the power from the rechargeable battery of the deployable device includes controlling the docking interface to engage or disengage the docking device from the deployable device.

8. The deployable device system according to claim 1, wherein the deployable device system further includes a communication interface, wherein the communication interface provides signal communication between the deployable device and the vehicle, and wherein performing the function or command using at least in part the power from the rechargeable battery of the deployable device includes communicating through the communication interface to change at least one of the height or z-axis coordinate of the deployable device or to engage or disengage the docking device from the deployable device.

9. A deployable device system for a vehicle, wherein the vehicle carries a load suspended from the vehicle by a cable, wherein the load includes a deployable device, and wherein the deployable device system comprises: Docking device for the deployable device and the deployable device, wherein the docking device includes an electrical interface for the deployable device, wherein the deployable device is connected to the electrical interface and the rechargeable battery of the deployable device is recharged through the electrical interface, wherein the deployable device is separated from the docking device and the electrical interface for the deployable device, wherein the deployable device includes a computer processor and a memory, wherein the memory includes a deployable device module, and when the deployable device module is executed by the computer processor, the deployable device module at least partially uses the power from the rechargeable battery of the deployable device to execute functions or commands, wherein the deployable device includes at least one of a cable holder or a connector for a terminal device coupled to the cable, wherein the cable holder fixes the deployable device to the cable or around the cable, and wherein the connector for the terminal device coupled to the cable fixes the deployable device to the terminal device of the cable, wherein the connector coupled to the terminal device of the cable includes at least one of a releasable hook or a rotary bearing, and wherein the rotary bearing allows the deployable device to rotate without transferring the rotational force from the deployable device to the cable.

10. A computer-implemented method for controlling a deployable device suspended from a vehicle by a cable, comprising: Recharging the rechargeable battery of the deployable device through the electrical interface of the docking device, the docking device and the electrical interface being located in a vehicle, separating the deployable device from the electrical interface, and at least partially using the power from the rechargeable battery of the deployable device to execute functions or commands, the deployable device including a suspended load control device, wherein the load is fixed to the suspended load control device, and wherein the suspended load control device includes a thruster and a sensor set, wherein the suspended load control device, the thruster and the sensor set are located at or near the load position at the end of the cable and rotate separately from the cable without transferring the rotational force to the cable, wherein at least partially using the power from the rechargeable battery of the deployable device to execute the function or the command includes estimating or predicting the state or parameters of the deployable device based on the sensor data from the sensor set, and in response thereto, controlling the thruster to affect the rotation of the suspended load control device and the load without transferring the rotational force to the cable, wherein the deployable device includes a fan unit, and the thruster is the thruster in the fan unit.

11. The method according to claim 10, wherein controlling the thruster further includes controlling the thruster to affect the movement of the deployable device from a first position to a second position.

12. The method according to claim 10, wherein estimating or predicting the state or parameter of the deployable device based on the sensor data from the sensor group includes predicting a near future state or parameter based on a currently measured state or parameter and using feedback from at least one of a functional mode or command state, thrust and orientation mapping, or fan mapping from an operation module.

13. The method according to claim 12, wherein estimating or predicting the state or parameter of the suspended load control device based on the sensor data includes combining the sensor data from the sensor group in a filter and determining a deviation between a previously predicted state or parameter and a currently measured state or parameter.

14. The method according to claim 10, wherein performing the function or command at least partially using the power from the rechargeable battery of the deployable device further includes controlling a thruster to affect the rotation of the suspended load control device to obtain a stowed position compatible in the docking device.

15. The method according to claim 10, wherein performing the function or command at least partially using the power from the rechargeable battery of the deployable device further includes communicating from the deployable device to the vehicle to control a hoist of the vehicle and thereby control the height or z-axis coordinate of the deployable device.

16. An expandable device for a vehicle, wherein the vehicle carries an expandable device suspended from the vehicle by a cable, and the expandable device includes: Apparatus for recharging a rechargeable battery of a deployable device through an electrical interface between the deployable device and a docking device, apparatus for separating the deployable device from the electrical interface, and apparatus for the deployable device to perform a function or command at least partially using the power from the rechargeable battery of the deployable device, the deployable device including a suspended load control device, wherein the load is fixed to the suspended load control device, and wherein the suspended load control device includes a thruster and a sensor group, wherein the suspended load control device, the thruster, and the sensor group are located at or near a load position at the end of a cable and rotate separately from the cable without transmitting a rotational force to the cable, wherein performing the function or command at least partially using the power from the rechargeable battery of the deployable device includes estimating or predicting a state or parameter of the deployable device based on sensor data from the sensor group and, in response thereto, controlling the thruster to affect the rotation of the suspended load control device and the load without transmitting a rotational force to the cable, wherein the deployable device includes a fan unit, and the thruster is a thruster in the fan unit.

17. The apparatus according to claim 16, wherein controlling the thruster further includes controlling the thruster to affect the rotation of the suspended load control device to obtain a stowed position compatible in the docking device.

18. The apparatus according to claim 17, wherein the apparatus for estimating or predicting the state or the parameter of the deployable device based on the sensor data from the sensor set includes an apparatus for predicting a near future state or parameter based on a currently measured state or parameter and using feedback from at least one of a functional mode or a command state, a thrust and orientation map, or a fan map from an operation module.

19. The apparatus according to claim 17, wherein the apparatus for estimating or predicting the state or the parameter of the suspended load control device based on the sensor data includes an apparatus for combining the sensor data from the sensor set in a filter and determining a deviation between a previously predicted state or parameter and a currently measured state or parameter.

20. The apparatus according to claim 16, wherein the apparatus for performing the function or the command at least partially using the power from the rechargeable battery of the deployable device further includes an apparatus for engaging the deployable device to the docking device of the vehicle or disengaging from the docking device of the vehicle.

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