Bidirectional thrust device, system, and method

Abstract

The bidirectional thrust assembly includes a motor, a selective power transmission mechanism, and multiple fans; wherein a change in the rotation direction of the motor causes the selective power transmission mechanism to alter the torque transmission between the multiple fans, wherein the fans can be opposite each other, and wherein the fans can be unidirectional. The bidirectional thrust assembly can be used in or by multiple ships, or for other objects that may require maneuvering, including suspended load control systems, vertical takeoff and landing aircraft, and landing craft.

Description

[0001] Cross-references to related applications

[0002] This application is a non-provisional application filed on November 26, 2019, entitled “Bidirectional Fan”, entitled U.S. Provisional Patent Application 62 / 940,550, and claims the benefit thereof, which is incorporated herein by reference. Technical Field

[0003] This disclosure relates to improved apparatus, systems, and methods for a fan assembly comprising two fans and a motor, and improved apparatus, systems, and methods related to a fan assembly comprising two fans and a motor; the fans may be unidirectional and arranged in opposite directions; the fan assembly may be used, for example, to control a load on a suspension cable suspended below a carrier. Background Technology

[0004] An airfoil is the cross-sectional shape of a wing, blade, fin, or sail. An airfoil-shaped body that moves through a fluid (such as air or water) can generate forces on the body, such as lift, thrust, and / or drag. In the following text, airfoils arranged radially around an axis of rotation in a structure (e.g., in a propeller) may be referred to as a "wind turbine".

[0005] A wind turbine can rotate about its axis of rotation in two directions, such as clockwise and counterclockwise. A wind turbine can be designed to rotate in either direction, producing equal thrust in either direction; for example, a wind turbine with a symmetrical airfoil can produce equal thrust when rotating in either direction. Such a wind turbine may be referred to herein as a "bidirectional wind turbine." Alternatively, compared to a bidirectional wind turbine, a wind turbine can be designed to provide greater thrust, greater lift, reduced drag, or noise when rotating in one direction. Such a wind turbine is referred to herein as a unidirectional wind turbine. A unidirectional wind turbine may have blades with asymmetrical airfoils.

[0006] Unidirectional fans are widely understood to be more efficient than bidirectional fans in converting work from a motor into the acceleration of a thrust fluid, where the acceleration of the thrust fluid provides lift or thrust or otherwise does work. When lift or thrust has a direction, it can be referred to as a thrust vector.

[0007] There are cases where the desired system outputs different thrust vectors; the desired thrust vectors can be opposite, for example, differing by 180 degrees. For example, many ship propellers can operate in a first direction to provide a forward thrust vector (relative to the bow of the ship) or in a second direction to provide a reverse thrust vector. However, as noted, if the propeller / fan is unidirectional, its operation in one direction will be less effective; if the propeller is bidirectional, it will be equally effective in both directions, but if the propeller operates primarily in one direction, it will be less effective overall than a unidirectional propeller.

[0008] In this scenario, an alternative to using a single bidirectional fan is to use two unidirectional fans driven by two separate motors. However, two motors may increase system weight and complexity, and either or both of these may adversely affect overall system efficiency.

[0009] When using a lifting system to transport people and / or equipment (“loads”) to or from a location as loads suspended by cables from a helicopter, aircraft, or crane, situations arise where it is desirable for the system or apparatus to output opposing thrust vectors. Cranes, helicopters, fixed-wing aircraft, and other structures capable of carrying loads using a lifting system may be referred to herein as “carriers.” During this operation, the load is affected by wind and other external and internal factors that may cause the load to move in an unstable, undesirable, or dangerous manner. During this operation, it may be desirable to move the load to a location other than its lowest energy suspension position below the carrier. During this operation, it may be desirable to use a system that outputs variable thrust from one or more thrust vector sources, where the thrust vector sources may have a fixed geometric relationship with each other. In this operation, multiple thrust vector sources may operate relative to each other on the principle of “vector thrust control.”

[0010] In hoisting, sling, and other carrier operations, the observed motions of suspended loads include the following components: vertical translation (up-and-down motion) along the Y-axis (referred to herein as “vertical translation”); horizontal translation along one or both of the X and Z axes; and rotation or “yaw” about the Y-axis. Tumble (rotation about the X-axis) and pitch (rotation about the Y-axis) may also occur, but if the load is suspended by a cable and is not floating, the typical motions are vertical translation, horizontal translation, and yaw. Vertical and horizontal translations can be caused by movement of the suspension cable, such as movement of the carrier, pulling in or out of the suspension cable, movement of the load, momentum differences between the load and the carrier, and impacts and external forces such as wind—including propeller washouts. Horizontal translation can manifest as 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 carrier (“pendulum motion”); oscillating motions typically also include a component of vertical translation as the load oscillates up and down and back and forth.

[0011] Yaw, lateral movement, and sway can complicate lifting operations, cause delays, and potentially result in death or injury to crew members, crane operators, and personnel on the ground. Yaw can cause dizziness and disorientation. Yaw, along with lateral and sway movements, can also interfere with operations that bring loads into or transport them to a location. For example, even if the deck is stable and not subject to heave, roll, or pitch as often as it might otherwise be, transporting cargo to a ship's deck can become highly complicated by cargo swaying or yaw. For instance, if a stretcher is yawing or swaying while being pulled onto a helicopter, it can be dangerous to bring a person on the stretcher into the helicopter or onto the helicopter strut. One or more components of the load's undesirable movement may accelerate or become more pronounced as the load is pulled onto the carrier and the suspension cable shortens. The load's lateral and sway movements can also interact with the carrier to create dangerous or undesirable reactive or unidirectional movements within the carrier.

[0012] In addition, some suspended load operations may involve obstacles such as surfaces, cliff walls, buildings, bridges, tree branches, overhangs, narrow passages, or other obstacles that may interfere with one or more of the carrier, load, and / or suspension cable. It may be desirable to move the load relative to such obstacles, or for other reasons, in a manner that does not involve the load at the lowest energy position suspended below the carrier.

[0013] Other operations, such as those utilizing drones or ships, can also leverage wind turbines and motors to control motion. Drones typically have propellers positioned above them to generate lift and can also benefit from lateral maneuvering in confined spaces. Ships often use lateral propulsion devices, such as bow or stern thrusters, to guide the bow or stern of the ship in a direction different from the ship's main thrusters. These devices are often called tunnel thrusters and can have one or more propellers driven by small, reversible electric motors to provide thrust in either direction. However, these devices can have motors and wind turbines for each direction, or use a single motor and a single bidirectional wind turbine. Using additional motors can introduce additional system weight; while using a bidirectional wind turbine can be less efficient.

[0014] The performance of a system requiring manipulation can be limited by the magnitude of the thrust vector that the system's fans can output, the speed at which the thrust vector can be switched in direction, and the efficiency with which the system converts scarce and expensive battery power into this thrust vector. These factors have motivated the use of unidirectional fans, each with its own motor. However, multiple motors can increase weight and system complexity.

[0015] Therefore, it is necessary to reduce the power consumption, size, and weight of the control device while still outputting the maximum force vector with usable power. Attached Figure Description

[0016] Figure 1 A bidirectional thrust assembly according to one embodiment is shown.

[0017] Figure 2 The components of a bidirectional thrust assembly according to one embodiment are shown.

[0018] Figure 3 A cross-section of a bidirectional thrust assembly according to one embodiment is shown.

[0019] Figure 4 A motor for use in a bidirectional thrust assembly is shown according to one embodiment.

[0020] Figure 5 A ratchet wheel for a selective power transmission mechanism is shown according to one embodiment.

[0021] Figure 6 A ratchet for a selective power transmission mechanism according to one embodiment is shown.

[0022] Figure 7 A fan for use within a bidirectional thrust assembly is shown according to one embodiment.

[0023] Figure 8 A stator for a bidirectional thrust assembly is shown according to one embodiment.

[0024] Figure 9 A solenoid disengaged within a bidirectional thrust assembly is shown according to one embodiment.

[0025] Figure 10 A solenoid engaged within a bidirectional thrust assembly is shown according to one embodiment.

[0026] Figure 11 A feathering technique according to one embodiment is shown.

[0027] Figure 12A This is a rear view of a remote pendant according to one embodiment, which can be used with a bidirectional thrust assembly including a suspension load control system.

[0028] Figure 12B According to one embodiment Figure 12A A perspective view of the remote pendant.

[0029] Figure 12C According to one embodiment Figure 12A A front view of the remote pendant.

[0030] Figure 13 The diagram schematically illustrates a suspension load control system logic component and a remote interface logic component used with a bidirectional thrust assembly according to one embodiment.

[0031] Figure 14 An operating module for a suspended load control system used with a bidirectional thrust assembly according to one embodiment is shown, which includes multiple modes or command states.

[0032] Figure 15 A suspension load control system decision and thrust control module for use with a bidirectional thrust assembly according to one embodiment is shown.

[0033] Figure 16 A view is shown of a first example of a suspended load control system according to one embodiment, the suspended load control system including a bidirectional thrust assembly fixed to the load.

[0034] Figure 17 A perspective view of a second example of a suspended load control system according to one embodiment is shown, the suspended load control system including a bidirectional thrust assembly fixed to the load.

[0035] Figure 18 A perspective view of a third example of a suspended load control system according to one embodiment is shown, the suspended load control system including a bidirectional thrust assembly fixed to the load.

[0036] Figure 19 Another example of a bidirectional thrust assembly according to several embodiments is shown.

[0037] Figure 20 An example of a motor having a heat sink and a support frame according to one embodiment is shown. Detailed Implementation

[0038] Bidirectional thrust can be provided along opposite thrust vectors using a single bidirectional fan and a single motor, although it is less efficient than two unidirectional fans, since each unidirectional fan has its own motor. However, using two motors to power two unidirectional fans increases weight and system complexity, and requires more physical space, compared to a single bidirectional fan and a single motor.

[0039] This disclosure addresses these problems and relates to a bidirectional thrust assembly that provides the thrust required for successful device manipulation using a single motor to drive two unidirectional fans in either direction of rotation, rather than requiring a motor for each fan. In this way, compared to systems comprising, for example, one motor and one bidirectional fan or two motors and two unidirectional fans, the disclosed assembly provides a more compact solution and consumes less power, thereby extending the battery life of manipulation systems incorporating the bidirectional thrust assembly disclosed herein.

[0040] As disclosed herein, an example that can benefit from the background of a two-way thrust assembly is a suspended load control system. A suspended load control system, or load stabilization system (collectively, “SLCS”), can control a load independently of the carrier by outputting force vectors from a thruster, turbine, or propeller, as found in an electrically ducted turbine at or near the load location. The thruster, turbine, propeller, and electrically ducted turbine may be referred to herein as “EDF” and / or “turbine.” EFSs in an SLCS can include opposing turbine pairs. The force vectors generated by the EDFs can be used to counteract yaw and yaw motions, can be used to horizontally translate the load, for example to avoid obstacles or move the load to an offset position relative to the normal minimum energy suspension position, or can otherwise be used to control the fine position and yaw of the load independently of the carrier. Therefore, SLCS can enhance mission safety and improve the performance of carrier and load operation because SLCS dynamically controls the fine position and yaw of the load, separate from the carrier's motion.

[0041] SLCSs may consume significant amounts of power; however, the power of the SLCS can be provided by a battery pack. The limited power within the battery pack may restrict the SLCS's mission and operational effectiveness. Furthermore, SLCSs may benefit from or require rapid changes in force vectors. Additionally, SLCSs may benefit from or require high efficiency in force vector generation. Moreover, SLCSs may benefit from or require lightweight construction, as the vehicle transporting the SLCS and load may have limited lifting capacity.

[0042] Vertical takeoff and landing (VTOL) and lighter-than-air aircraft can also benefit from propulsion systems capable of outputting opposite thrust vectors, for example, for lateral control during transport or for stabilization during takeoff and landing. VTOL configurations can be found across a range of aircraft, from unmanned aerial vehicles to passenger and cargo aircraft, such as fixed-wing aircraft, helicopters, rockets, rotorcraft, tiltrotor aircraft, etc. Lighter-than-air aircraft can include inflatable airships, hot air balloons, and similar vehicles. These aircraft can use fans and motors to provide lateral thrust and can also benefit from propulsion systems capable of outputting opposite thrust vectors.

[0043] While downward thrust or buoyancy can provide lift for VTOL and lighter-than-air aircraft to leave the ground, additional thrusters may be needed to provide lateral force to guide such an aircraft along a desired trajectory or to provide torque to yaw it. A wind turbine and motor configuration can be used to apply this steering and power, although using multiple motors to power multiple unidirectional motors increases weight and system complexity, and occupies space on such an aircraft. Such an aircraft can benefit from the enhanced agility provided by the lightweight, small-footprint, low-power bidirectional thruster system disclosed herein.

[0044] The disclosed systems and methods can be used in any operation requiring manipulation of at least a portion of an object. Exemplary operations may include, but are not limited to, crane operations, drone delivery systems, and tunnel thrusters on ships. Therefore, the medium in which the system operates can be any fluid, such as air or water, but is not limited to; the fluid may be referred to as a “thrust fluid.” For example, any reference to a fluid inlet can be replaced by an air inlet, and vice versa. The systems and methods in the following examples can be adapted by those skilled in the art for other uses without undue experimentation or burden.

[0045] The bidirectional thrust assembly may include a motor, a selective power transmission mechanism, and multiple unidirectional fans.

[0046] The motor may include a double-ended drive shaft; the motor may be configured to rotate the double-ended drive shaft in a clockwise or counterclockwise direction.

[0047] A selective power transmission mechanism may include, for example, multiple flywheel assemblies, multiple clutch assemblies, and / or a bidirectional drivetrain. Each of the multiple flywheel assemblies may include a pawl and a ratchet. The pawl may include a pawl and a pawl engagement mechanism for engaging the pawl with the ratchet. The ratchet may include teeth along the inner diameter of the ratchet's hub, wherein the teeth are configured to allow the pawl to engage with the teeth only in one direction. The selective power transmission mechanism may include a first flywheel assembly between a first end of a double-ended drive shaft and a first fan, and a second flywheel assembly between a second end of the double-ended drive shaft and a second fan. The first flywheel assembly may be configured to transmit power, such as torque, from the motor to the first fan when the motor is driven in a first direction (e.g., clockwise); the second flywheel assembly may be configured to transmit torque from the motor to the second fan when the motor is driven in a second direction (e.g., counterclockwise). In this way, the selective power transmission mechanism can selectively provide power to either the first or second fan based on the direction of rotation of the motor.

[0048] The stator of the bidirectional thrust assembly can be located downstream of the wind turbine. The stator may include multiple fixed fins configured to guide or enhance the thrust generated by the wind turbine.

[0049] The housing of the bidirectional thrust assembly, or the housing containing the bidirectional thrust assembly, may include a thrust fluid inlet and two outlet ports. The motor, selective power transmission mechanism, and fan of the bidirectional thrust assembly may be located within the housing. Each fan may be located near or inside the outlet port.

[0050] In one embodiment, each housing may include a mesh or shielded thrust fluid inlet located at or near the central portion of the bidirectional thrust assembly. Although a central mesh thrust fluid inlet configuration is shown by way of example in the figures, any opening that allows thrust fluid to flow into the wind turbine may be used.

[0051] The bidirectional thrust assembly can be controlled by a controller. In one embodiment, circuitry, modules, software-implemented algorithms, or other systems (“thrust control module”) can control the bidirectional thrust assembly to control the direction of the thrust output by the bidirectional thrust assembly (e.g., controlling the output thrust vector) and the magnitude of the thrust vector output by the turbine of the bidirectional thrust assembly. The thrust control module can use one or more bidirectional thrust assemblies to output lateral forces or torques to control loads, such as stabilizing loads, controlling the path of loads, maneuvering the aircraft, etc. (Regarding 16…) Figure 17 and Figure 18 An example of a bidirectional thrust assembly incorporated into the SLCS is shown and discussed. An example of a remote pendulum that can be used to provide input to the thrust control module is shown and discussed with reference to Figure 12. Figure 13 Examples of logic components used to implement the thrust control module and / or remote pendulum are shown and discussed. Regarding Figure 14 and Figure 15 An example of a thrust control module is shown and discussed.

[0052] In embodiments including a motor with a double-ended drive shaft, fans are provided at both ends of the double-ended drive shaft, which can rotate the motor in either direction; a selective power transmission mechanism can cause the fans to generate a thrust vector according to the direction of rotation of the motor.

[0053] In one embodiment, the bidirectional thrust assembly may include a brake to prevent the first fan from rotating, for example, when the second fan receives power from the motor. In one embodiment, the brake may be a frictionless brake including a magnet, as described above. Figure 9 and Figure 10 The brake, as discussed, allows the bidirectional thrust assembly to change its thrust vector more quickly, enables it to operate more efficiently, and stabilizes the flow of thrust fluid through the bidirectional thrust assembly.

[0054] Figure 1 A bidirectional thrust assembly 100 according to one embodiment is shown. Some or all of the components of the bidirectional thrust assembly 100 may be contained within a housing 102. The housing 102 may include a fluid inlet 104 and two inline outlet ports 106.

[0055] Fluid inlet 104 may be located around the circumference of housing 102 and substantially in the middle along the length of housing 102. Fluid inlet 104 may be protected by a mesh or other type of opening to prevent objects from entering the housing and damaging or inhibiting the function of the bidirectional thrust assembly 100. The profile of housing 102 may be designed to maximize the flow of thrust fluid while also directing the thrust fluid toward the fan.

[0056] At each end of housing 102, and along a line defined by the rotational axis of the fan, housing 102 may include an output port 106. Housing 102 may have a configuration for mounting the motor at its axial and radial center and for mounting the stator 800. The stator 800 may be located within the output port 106.

[0057] Figure 2 An example of a bidirectional thrust assembly component 200 according to one embodiment is shown. In this example, the bidirectional thrust assembly component 200 may include a housing 102, a motor 400, a plurality of flywheel assemblies 208A and 208B, a plurality of fans 700A and 700B (which may also be referred to as "fan blade assemblies"), and a plurality of stators 800B and 800B. Within the housing 102, the motor 400 may be mounted in a central position (axially and radially) such that the rotation axis of the motor 400 is along the long central axis of the housing, such as... Figure 2 As shown by the dashed lines. Within the motor 400 are wheel axles 402A and 402B, which can be the two ends of a double-ended drive shaft (“wheel axle”, “drive shaft” and “drive shaft” can be synonyms in this document).

[0058] Each flywheel assembly 208A and 208B can be secured to shafts 402A and 402B protruding from each end of the motor 400. Each flywheel assembly 208 may include... Figure 5 and Figure 6 The ratchet wheel 500 and ratchet wheel 600 are further shown and discussed. The ratchet wheel 500 can be fixed to the motor 400, and as further discussed herein, the ratchet wheel 500 can be configured to selectively transmit driving force or torque from the motor 400 to the ratchet wheel 600, and then to the fan 700, depending on the direction of rotation of the motor 400.

[0059] In embodiments, the flywheel assembly 208 may be or include, for example, a clutch that can be engaged or disengaged to transmit or not transmit power, such as torque, from the motor 400 via the shaft 402. In embodiments where the flywheel assembly 208 is a clutch or includes a clutch, the clutch can be actively engaged or disengaged via a clutch activation mechanism (e.g., via a solenoid, etc.). This active engagement mechanism can obtain power from, for example, an electrical connection via a slip ring, etc., on the shaft 402. In embodiments where the flywheel assembly 208 is a clutch or includes a clutch, the clutch can be passively engaged or disengaged via a clutch activation mechanism, for example, by rotational direction and inertia (e.g., as in a centrifugal clutch), in a manner similar to the pawl engagement mechanism 506, the recess 510, and the pawl wheel 500, via a hydraulic clutch activation mechanism, etc. In embodiments where the flywheel assembly 208 is a clutch or includes a clutch, the flywheel assembly 208 may not include, for example, ratchet wheel 500 and ratchet wheel 600, but may instead include, for example, a solenoid that engages to lock two sides of the drivetrain together, a clutch pad and a clutch face, wherein an actuator may engage to generate friction between the clutch pad and the clutch face, thereby transmitting torque from a first side having a clutch pad to a second side having a clutch face, etc.

[0060] The fan 700 may have a separate airfoil with an orientation different from that shown. The airfoil shown is asymmetrical, intended to illustrate that the fan 700 is an example of a unidirectional fan that can provide greater thrust than a symmetrical airfoil on a bidirectional fan. In one embodiment, the airfoil of the fan 700 may be symmetrical, which is likely if each of the fans 700A and 700B is bidirectional. The airfoil shown in the accompanying drawings of the fan 700 may not be correctly oriented; the airfoil may be more properly oriented with the thicker end of the airfoil closer to the fluid inlet 104, such that the thicker end is the leading edge of the fan, as the thrust fluid is pushed out of the housing 102 by the motor 400 and the fan 700. The fan 700 may be attached to a ratchet 600 such that torque from the motor 400 is transmitted to the ratchet 600 via a pawl 500, thereby causing the fan 700 to rotate and propelling the fluid to accelerate away from the housing 102 and the outlet port 106.

[0061] In one embodiment, the ratchet 600 or other portions of the bidirectional thrust assembly 100 may be configured with one or more braking components. The braking components may include friction-based or frictionless braking devices. Friction-based braking components may include, for example, disc or drum brakes. Regarding Figure 9 and Figure 10Examples of frictionless braking devices are shown and discussed. Generally, the hub magnet 212 can be mounted to, for example, a fan 700, a ratchet 600, etc. The solenoid 210 can be mounted on another non-rotating part of the motor 400, housing 102, or bidirectional thrust assembly 100. The solenoid 210 may comprise a magnet or ferromagnetic material. The solenoid 210 can be engaged or extended, for example, by electric current, such that the magnet or ferromagnetic material of the solenoid 210 can become close to the hub magnet 212. When so engaged or extended, the magnet of the solenoid 210 can exert an attractive force on the hub magnet 212, thereby slowing down or preventing the rotation of the flywheel assembly 208 and the fan 700, thus providing frictionless braking of the respective fan 700. Braking of the fan 700, whether frictionless or otherwise, can be performed, for example, to rapidly reduce or eliminate the thrust vector from the fan 700, to smooth the flow of thrust fluid, to reduce noise, to reduce the generation of radio interference, etc. This is one example; other components may be provided to provide friction-based or frictionless braking for the fan 700.

[0062] The fan 700 can be coupled to a shaft extending toward or from the stator 800, such as a fixed shaft. The bearing 214 can radially support the fan 700 around the shaft of the stator 800, thereby reducing friction when the fan 700 is driven to rotate by the motor 400.

[0063] Stator 800 can provide aerodynamic control of the airflow or moving thrust fluid propelled by the rotating fan 700. If the thrust fluid propelled by the fan 700 has a rotational component, stator 800 can remove some or all of this rotational component, which can reduce turbulence, reduce noise, recover this component of rotational energy as additional thrust, and / or otherwise improve the effective or desired operating characteristics of the bidirectional thrust assembly 100.

[0064] Figure 3 A cross-section 300 of a bidirectional thrust assembly 100 according to one embodiment is shown. In this embodiment, the assembly on the left side of the motor 400 (from...) Figure 3 From the observer's perspective, the assembly is configured to provide thrust and thrust vector in a direction away from the motor 400 when the motor 400 rotates counterclockwise 302 (clockwise and counterclockwise relative to the observer observing the stator 800B and entering the bidirectional fan assembly 100). The assembly to the right of the motor 400 is configured to provide thrust and thrust vector in the opposite direction away from the motor 400 when the motor 400 rotates clockwise 304.

[0065] When motor 400 rotates counterclockwise 302, for example due to the thrust control module (examples of which are shown and discussed with respect to the suspended load control system operation module 1400 and / or the suspended load control system decision and thrust control module 1500), flywheel 208A can engage to transmit torque to fan 700A and thereby rotate fan 700A. Solenoid 210 can be deactivated, so that it has no braking effect on fan 700A. Figure 9 and Figure 10 The disengagement and engagement of the solenoid are illustrated in more detail below. As described above, rotation of the blower 700A can create a thrust fluid flow from fluid inlet 104 to outlet port 106A, thereby generating a thrust vector away from the motor 400 in that direction. In this case, the flywheel assembly 208B can disengage from the blower 700B, so that torque from the motor 400 is not transmitted to the blower 700B. As discussed herein, the flywheel assembly 208B can be passively disengaged based solely on the rotational direction of the motor 400, without requiring a separately powered actuator. In this case, the solenoid 210B can alternatively engage, for example, via a thrust control module, to prevent the blower 700B from rotating. Regarding Figure 10 The engagement configuration of solenoid 210 is shown and discussed.

[0066] When motor 400 switches to clockwise rotation 304, flywheel assembly 208A can disengage, for example, due to the thrust control module (examples of which are shown and discussed with respect to the suspended load control system operation module 1400 and / or the suspended load control system decision and thrust control module 1500), thereby stopping the transmission of torque to fan 700A. Solenoid 210A can be engaged, for example, via the thrust control module, and the movement of fan 700A can be slowed or stopped with frictionless braking force. When motor 400 switches to clockwise rotation 304, for example, via the thrust control module, flywheel assembly 208A can disengage to no longer transmit torque to fan 700A, and flywheel assembly 208B can engage fan 700B and transmit torque to fan 700B. As discussed herein, based solely on the rotational direction of motor 400, flywheel assembly 208A can be passively disengaged and flywheel assembly 208B can be passively engaged without an independent power actuator acting on either flywheel assembly 208A or 208B. In this case, solenoid 210B can be disengaged, for example, via a thrust control module, so that solenoid 210B does not apply braking force to fan 700B. In this case, fan 700B, through rotation by torque from motor 400, can generate a thrust fluid flow from fluid inlet 104 to outlet port 106b, thereby generating a thrust vector away from motor 400 in that direction.

[0067] When motor 400 is off, one or both of solenoids 210A and 210B can be activated.

[0068] As discussed herein, the two thrust vectors generated by fans 700A and 700B can be relative or opposite. Alternation between the two thrust vectors, or the absence of thrust vector generation, can be achieved by changing the rotation direction of motor 400 or by shutting off motor 400. The thrust vector generated by fans 700A and 700B in the bidirectional thrust assembly 100 can be more efficient than the thrust vector generated by a single bidirectional fan. With only one motor, the bidirectional thrust assembly 100 can have fewer, simpler, and lighter components than an assembly comprising two unidirectional fans, each driven by a separate motor.

[0069] Figure 4 A motor 400 according to one embodiment is shown. The motor 400 includes shafts 402A and 402B, which in some embodiments may be either a continuous shaft passing through the motor 400 or the two ends of a double-ended drive shaft 404. In this way, the motor 400 can drive the double-ended drive shaft 404 about a single rotational shaft 406 in one of two modes of bidirectional rotation 408 (clockwise and counterclockwise, relative to an observer close to and viewing shaft 402A, toward shaft 402B).

[0070] A dual-ended drive shaft can be used, allowing each end of the drive shaft to drive a separate fan. The motor 400 can rotate in either direction. In this embodiment, the motor 400 can be a brushed motor or a brushless motor. The rotation direction of the motor 400 can be controlled by a thrust control module, which can interact with other logic components of the control system, such as an electronic speed controller, commutator, and control system, to control the rotation direction of the motor 400.

[0071] like Figure 3 As shown, the motor 400 can be centrally located within the housing 102 of the bidirectional thrust assembly 100 relative to the axial length and radial width of the assembly. A support frame or multiple support structures can hold and / or stabilize the motor 400 in this position. Such supports can also provide a holder or conduit for cables carrying power or control signals for the motor 400, solenoid, or any other electrical components within the housing 102.

[0072] Motor 400 may include heat sinks, heat transfer structures, radiators, etc. In one embodiment, one or more radiator fins 410 may protrude into the thrust fluid flow entering the intake housing 102 of motor 400. The windings of motor 400 may be close to the radiator fins 410; the permanent magnets of motor 400 may be close to the shaft 402; heat generated in the windings close to the radiator fins 410 may radiate or otherwise conduct from the radiator fins 410 into the surrounding fluid, such as the thrust fluid.

[0073] about Figure 20 Another embodiment of the heat sink and support frame associated with the motor is shown and discussed.

[0074] Figure 5 A ratchet wheel 500 according to one embodiment is shown. The ratchet wheel 500 may be part of a flywheel assembly 208. The engagement or disengagement of flywheels 208A and 208B to transmit torque to fans 700A and 700B may depend on the rotational direction of motor 400. Flywheels 208 may be configured such that each flywheel engages independently and one at a time, allowing the fans to engage or disengage based on the rotational direction of motor 400, thereby generating a bidirectional thrust vector that can be used to stabilize or control the load. The ratchet wheel 500 may be a drive portion of flywheel 208 and can therefore be directly fixed to shaft 402.

[0075] exist Figure 5 In the example shown, the ratchet wheel 500 includes a base wheel 502, a plurality of pawls 504, and a plurality of pawl engagement mechanisms 506. In some embodiments, each of the plurality of pawls 504 may include a hinge 508; the hinge 508 may be disposed in a hinge shoulder 503. In an embodiment, the plurality of pawl engagement mechanisms 506 may be balls or rods, each ball or rod residing within a recess 510 of the base wheel 502 when the pawls 504 are retracted. In one embodiment, the recess 510 may be well-shaped, such that when the ratchet wheel 500 rotates clockwise (relative to viewing...) Figure 5 As the observer rotates, inertia drives the pawl engagement mechanism 506 downward into the corner of the recess 510, and causes the pawl wheel 500 to rotate counterclockwise (relative to the observer). Figure 5 As the observer rotates, inertia drives the pawl engagement mechanism 506 toward the pawl 504, causing the pawl 504 to rotate about the hinge 508, move outward 512, and engage the teeth 602 of the ratchet 600. An example of this is... Figure 6 As shown in the figure. In one embodiment, spring loading or another force may cause, or may further cause, multiple pawl engagement mechanisms 506 to press outward from recess 510 against the underside of the associated pawl, causing pawl 504 to rotate about hinge 508, move outward 512, and engage the teeth 602 of ratchet 600, an example of which is shown in Figure 6 As shown in the image.

[0076] Figure 6A ratchet 600 according to an embodiment is shown. The ratchet 600 may be the driven portion of the flywheel 208 and therefore may be directly attached to the fan 700. The ratchet 600 may include one or more teeth 602 arranged in or around an inner diameter or opening within the ratchet 600; the teeth 602 may engage or disengage with, or relative to, the pawl 504 of the pawl wheel 500, for example, depending on the torque direction of the motor.

[0077] Each tooth 602 may include a long tooth surface 604 and a short tooth surface 606; the pawl 504, driven by the pawl engagement mechanism 506, can contact the short tooth surface 606 and transmit torque from the base wheel 502 through the hinge shoulder 503, through the teeth 602 to the ratchet 600, and then to the fan 700. In this way, the ratchet wheel 500 can rotate within the ratchet 600 only when the motor 400 rotates in one direction. Figure 6 In the example shown, observe the bottom tooth of the ratchet 600, where the long tooth surface 604 tilts upward from right to left at a progressive angle.

[0078] When the ratchet wheel 500 rotates counterclockwise within the ratchet, the progressive tilt of the long tooth surface 604 can be used to press down the pawl 504 and retain the pawl engagement mechanism 506 within the recess 510. This allows the ratchet wheel 500 to rotate within the ratchet 600 without engaging with the short tooth surface 60, thus preventing torque or rotational force from being transmitted to the ratchet 600 and the associated fan, or transmitting minimal torque or rotational force to the ratchet 600 and the associated fan.

[0079] In this operating mode, the ratchet 600 can be held in place by a braking component, such as one or more solenoid magnets being engaged to apply magnetic attraction to a hub magnet or ferromagnetic material, which can be housed within a magnet slot 608.

[0080] When the direction of the motor 400 is reversed and the pawl wheel 500 begins to rotate clockwise, the steep angle of the short tooth surface 606 can be used to capture the tip of the pawl 504, thereby engaging the pawl wheel 500 with the teeth 602 of the ratchet wheel 600. This allows the rotation and torque of the pawl wheel 500 driven by the motor 400 to be transmitted to the ratchet wheel 600, and thus to the associated fan 700, causing the fan 700 to rotate, accelerate the thrust fluid, and apply a force vector to the housing 102 and the larger structure fixed to the housing 102.

[0081] Figure 7 An example of a fan 700 according to one embodiment is shown. The fan 700 may include a fan hub 702 surrounded by blades 704 and provided with a centrally located axial bore 706.

[0082] The blades 704 of the wind turbine 700 can be designed to optimize the transfer of energy to the thrust fluid and the resulting force vector thrust output. The cross-sectional profile of each blade or airfoil, the curvature along the length of each blade, and the angle at which each blade intersects the wind turbine hub 702 can vary. Variations can improve thrust when rotating in one direction, as in a unidirectional wind turbine, or can allow the wind turbine 700 to operate in either direction of rotation. Unidirectional wind turbines can have asymmetrical cross-sections, while bidirectional wind turbines can have symmetrical cross-sections. In some embodiments, the wind turbine blades 704 can be configured to automatically feather (i.e., adjust curvature and angle) based on desired thrust performance. As described herein, the airfoil shown in the wind turbine 700 may be incorrectly oriented; the airfoil could be more properly oriented so that the thicker end of the airfoil is closer to the fluid inlet 104, such that the thicker end is the leading edge of the wind turbine, as the thrust fluid is pushed out of the housing 102 by the motor 400 and the wind turbine 700.

[0083] The axial bore 706 allows the fan 700 to be coupled via bearings to a structure fixed to, for example, housing 102 and / or stator 800, as per [reference needed]. Figure 2 As shown and discussed, the bearing housed within the axial bore 706 stabilizes and supports the fan 700 on the outlet fin shaft 806 and / or the stator 800, thereby reducing friction during the rotation of the fan 700.

[0084] Ratchet 600 can be fixed to the fan hub 702. In this way, torque from motor 400 can drive flywheel assembly 208 to rotate fan 700, accelerate thrust fluid, and apply force vectors to housing 102 and to objects fixed to housing 102 (e.g., on SLCS or other maneuvering objects or aircraft).

[0085] Figure 8 A stator 800 according to one embodiment is shown. Each output port 106 may include a stator 800 located therein. The stator 800 may include a plurality of stator fins 802, a fairing 804, and an outlet fin shaft 806.

[0086] Unlike the wind turbine, the fins of the stator 800 can be fixed and rigid. In some embodiments, the outer edge of the stator fins 802 can be fixed to the housing 102. While wind turbine blades may be necessary to generate thrust through the acceleration of the thrust fluid, thrust can be generated more efficiently and effectively by minimizing turbulence at the outlet, which can be achieved by the stator fins 802. In an alternative embodiment or theory, the rotational component of the thrust fluid from the wind turbine 700 can transmit force to the stator fins 802. In an alternative embodiment or theory, the stator fins 802 can be designed to concentrate the thrust fluid from the wind turbine in a desired direction, such as along the aerodynamic fairing 804.

[0087] Therefore, the stator 800 can enhance the generation of the force vector in the desired direction through the bidirectional thrust assembly.

[0088] With the stator 800 rigidly mounted within the housing 102, the outlet fin shaft 806 can provide a stable and stationary mount for the fan 700, as per [reference to...]. Figure 2 and Figure 7 As shown and described.

[0089] Figure 9 A solenoid disconnector 900 according to one embodiment is shown. Braking (such as friction-based braking or frictionless braking) can be implemented for one or both fans, can be activated for one fan while another is rotating, or can be deactivated. Applying a brake to a fan can stop the thrust vector of such a fan, streamline the airflow, reduce noise, etc. Examples of braking components are shown in... Figure 9 and Figure 10 As shown in the example, one or more hub magnets 212 may be fitted onto the outer periphery of a hub 902 formed by, for example, a flywheel assembly 208 and / or a fan 700. For example, magnets or ferromagnets may be fitted into slots or equivalents on a ratchet 600, such as... Figure 6 As shown.

[0090] When it is desired that the wind turbine receives torque from the motor 400, rotates, and generates a thrust vector, such as during the operation of the thrust control module and as per [the relevant regulations]... Figure 3 As discussed, solenoid 210 can be detached, such as Figure 9 As shown. In this disengaged state, the solenoid magnet 904 connected to the solenoid 210 can be placed at a certain distance away from the hub magnet 212, so that the magnetic attraction between the hub magnet 212 and the solenoid magnet 904 does not interfere with the rotation of the hub 902.

[0091] In one embodiment, the solenoid 210 may carry a coil or similar magnetic and / or electrical active component, such that a moving magnetic field provided by the hub magnet 212 or a group of hub magnets 212 surrounding the hub 902 can generate an opposing magnetic field in the coil or similar magnetic and / or electrical active component of the solenoid 210, thereby forming a magnetic brake, wherein power is provided by the rotation of the hub 902. More than one solenoid 210 may move the magnetic brake, thereby engaging and disengaging with the hub magnet 212.

[0092] In some embodiments, as shown, the solenoid 210 may be mounted on the motor 400, or otherwise mounted to be stationary relative to the rotation of the hub 902 and to allow it to be as... Figure 10 Within the proximity of the engagement.

[0093] Figure 10A solenoid 1000 in engagement according to one embodiment is shown. This may occur during operation of the thrust control module and as per [the relevant information] Figure 3 As discussed, when it is desired that the fan disengages to cease generating thrust, or when it is desired that the fan thrust generation stops, the direction of motor 400 can be reversed, and flywheel assembly 208 can disengage. This may cause fan assembly 700 to rotate about hub 902, which may be undesirable, for example due to residual thrust, turbulent flow of thrust fluid, noise, or other characteristics detrimental to the performance of bidirectional thrust assembly 100. In this case, a brake, such as a friction-based or frictionless brake, may be employed, for example via engagement solenoid 210, as shown.

[0094] To engage solenoid 210, an electrical signal can be sent to solenoid 210, causing the arm of solenoid 210 to extend or otherwise reposition the solenoid magnet 904 so that it aligns with and approaches the hub magnet 212 fixed to the hub 902. In another embodiment, solenoid 210 can pivot its arm into place upon engagement or otherwise move it to the vicinity of the hub magnet 212. As the magnet (or ferroelectric material) of solenoid 210 becomes close to the hub magnet 212, the rotation of fan 700 can be slowed down or stopped.

[0095] Figure 11 A feathering blade 1100 according to one embodiment is shown. (See also: Regarding...) Figure 7 The blades of the wind turbine discussed may be designed with profiles, curvatures, or angles that match the hub, optimizing their ability to generate thrust in a single direction, such as resulting in a unidirectional wind turbine or blades. In some embodiments, wind turbines for bidirectional thrust assemblies may be configured such that they can automatically or passively feather based on a desired thrust direction, i.e., changing their curvature and / or angle of attack relative to the hub or thrust fluid. This capability allows the motor 400 to generate thrust using two simultaneously rotating turbines with opposing thrust vectors. This configuration can further improve thrust while maintaining a small profile and low power consumption.

[0096] In such an embodiment, the two fans can rotate, for example, clockwise. The blade shape, curvature, and / or angle of attack can be optimized to propel air and thus generate a thrust vector in the first direction (e.g., into the sheet, such as...). Figure 11 (As shown). This can be seen in the configuration shown for manipulating the object in the first direction 1102.

[0097] In response to a control signal, in an embodiment where the wind turbine blades are feathered, the motor 400 can reverse direction 1104. The blades 704 can change shape, curvature, and / or angle of attack in response to the same signal and / or in response to the direction of rotation.

[0098] As a result, blade 704 can be feathered into a configuration for maneuvering an object in the second direction 1106. That is, the blade shape, curvature, and / or angle of attack can be reversed or otherwise altered to optimize the wind turbine's ability to propel thrust fluid when rotating counterclockwise, thereby improving the thrust generated in the second direction (e.g., away from the sheet, such as...). Figure 11 (As shown).

[0099] The bidirectional thrust assembly 100 can be found and used by, for example, the thrust control module of a ship, aircraft, or vertical takeoff and landing vehicle and / or another suspended load control system or load stabilization system that cannot fly independently; all of these can be collectively referred to as “SLCS”. As discussed herein, the SLCS can control the load independently of the carrier by outputting a force vector from the wind turbine at or near the load location.

[0100] This article illustrates and discusses examples of thrust control modules in or within SLCS; it should be understood that similar thrust control modules may be found in and / or used by other aircraft, such as ships, aircraft, and / or vertical takeoff and landing aircraft.

[0101] Figure 12A An embodiment of a remote pendant 1235 including, for example, an activation controller 1240 is shown. Figure 12B Another view of one embodiment of the remote pendant 1235 is shown. Figure 12C Another view of one embodiment of the remote pendant 1235 is shown, which includes, for example, an on / off switch 1245, a status selector 1250, and a manual / rotation control 1251. The on / off switch 1245 can be used to turn on the remote pendant 1235. The status selector 1250 can be used to select a command status operation module 1400, such as regarding... Figure 14 The discussion continues. The activation controller 1240 can be used to activate or deactivate the SLCS in or relative to a selected command state. The manual / rotation control 1251 can be used to manually activate the fan to rotate or shift the load.

[0102] Figure 12A An embodiment of a remote pendant 1235 including, for example, an activation controller 1240 is shown. Figure 12B Another view of one embodiment of the remote pendant 1235 is shown. Figure 12C Another view of one embodiment of the remote pendant 1235 is shown, which includes, for example, an on / off switch 1245, a status selector 1250, and a manual / rotation control 1251. The on / off switch 1245 can be used to turn the remote pendant 1235 on or off. The status selector 1250 can be used to select the command status of the operation module 1400, such as regarding... Figure 14The activation controller 1240 can be used to activate or deactivate the operation module 1400 in or relative to a command state selected or indicated by the status selector 1250. When the status selector 1250 has been used to select, for example, direct control mode 1427, the manual / rotation control 1251 can be used to manually activate the fan to rotate or shift the load.

[0103] Figure 13 The suspended load control system logic component 1301 and remote interface logic component 1350 according to one embodiment are schematically illustrated. Within the load control system logic component 1301 are sensors 1305, which may include a position sensor 1306, an orientation sensor 1307, an inertial sensor 1308, a proximity sensor 1309, a reference position sensor 1310, a thrust sensor 1311, and a camera. The SLCS processor 1320 may include a computer processor and a microcontroller. The SLCS memory 1325 may include random access memory (“RAM”), read-only memory (“ROM”), and permanent non-transitory mass storage devices, such as solid-state drives, and may contain navigation system 1326, target data 1327, mode or command status information 1328, and software or firmware code, instructions, or logic for one or more of the operation module 1400 and the suspended load control decision and thrust control module 1500. The communication system 1330 may include a wireless system 1331 and a wired system 1332, such as a wireless transceiver. The SLCS output 1315 may include thrust control 1316 via a power controller or ESC. The power management system 1340 regulates and distributes power supply from, for example, a battery. A data bus couples various internal systems and logic components of the load control system logic component 1301.

[0104] An interactive display, remote interface, remote positioning unit, or target node may be a computing unit including one or more remote interface logic components 1350; such a unit may be self-powered or hardwired to the chassis. The remote interface logic component 1350 may, for example, wirelessly receive data from and / or transmit data to the SLC. Data from the SLCS may be displayed on the display 1361 of the remote interface logic component 1350; the computed data is parsed and converted into visual cues. The remote interface logic component 1350 may also transmit the expected command status and operating instructions of the SLCS operator, as described below.

[0105] The remote interface logic component 1350 can communicate with the load control system logic component 1301 via a communication system 1370, which can be wireless (1371) or wired (1372). Outputs 1360 from the remote interface logic component 1350 may include information displayed on a screen or display (1361), and audible cues or access to remote audio (such as audio detected by sensors in the load) via audio output (1362). Inputs 1365 to the remote interface logic component 1350 to control the SLCS may include commands entered via a touchscreen (1366), joystick (1367), or other input interfaces. In various embodiments, the remote interface logic component 1350 may include one or more physical and / or logical devices that collectively provide the functionality described herein.

[0106] Various aspects of the system can be embodied in dedicated or special-purpose computing devices or data processors, which are specifically programmed, configured, or constructed to execute one or more computer-executable instructions, as detailed herein, in conjunction with suitable memory. These aspects can also be implemented in distributed computing environments, where tasks or modules are executed by remote processing devices and memory linked via communication networks such as local area networks (LANs), wide area networks (WANs), or the Internet. In distributed computing environments, modules can reside in both local and remote memory storage devices. Figure 13 As schematically shown, the load control system logic component 1301 and the remote interface logic component 1350 are coupled via a wired or wireless network.

[0107] According to one embodiment, the load control system logic component 1301 can work with a remote positioning unit, remote interface, or target node that includes one or more remote interface logic components 1350. The remote positioning unit, remote interface, or target node may include internal or external sensor suites, such as sensor 1368, configured to communicate (e.g., wirelessly) with the load control system logic component 1301 as a location reference. Sensor 1368 may be similar to sensor 1305. If sensor 1305 is considered a primary sensor suite, the secondary sensor suite location may be a suspended platform or carrier, sensor 1368 may be in or communicate with the remote interface logic component 1350, and the tertiary sensor suite location may be a location of interest for the load (e.g., for locating to obtain or deliver the load). The remote interface logic component 1350 may also include a processor 1369 and a memory 1373, which may be similar to processor 1320 and memory 1325. The memory 1373 may include software or firmware code, instructions, or logic for one or more modules (such as the remote interface module 1374) used by the remote positioning unit, remote interface, or target node. For example, the remote interface module 1374 may provide control and interface to the remote positioning unit, remote interface, or target node to allow it to be turned on / off, paired with the SLCS, input commands, etc.

[0108] The remote positioning unit may include a transceiver configured to communicate with the load control system logic component 1301 via a wireless transceiver and provide a position reference. For example, the remote positioning unit may be attached to a helicopter owner or crane with a load suspended below it, the remote positioning unit may be attached to the load, and / or the remote positioning unit may be placed at a target location.

[0109] In some embodiments, the remote positioning unit, remote interface, or target node may be made of durable polymer or plastic, large enough to fit in the hand. The remote positioning unit, remote interface, or target node may have an external antenna. The remote positioning unit, remote interface, or target node may be attached to, for example, a helicopter, a fixed-wing vehicle, or an object to be transported, by magnets, bolts, or any other securing mechanism. The remote positioning unit, remote interface, or target node may be deployed to a location on the ground or attached to, for example, a life-saving device or other floating equipment, a rescuer, a load to be retrieved, a load to be delivered, or an operational specific location.

[0110] Aspects of the load control system logic component 1301 and / or remote interface logic component 1350 may be embodied in a dedicated or special-purpose computing device or data processor specifically programmed, configured, or constructed to execute one or more computer-executable instructions as detailed herein. Aspects of the load control system logic component 1301 and / or remote interface logic component 1350 may also be implemented in a distributed computing environment, where tasks or modules are executed by remote processing devices linked via a communication network, such as a local area network (LAN), wide area network (WAN), or the Internet. In a distributed computing environment, modules may reside in both local and remote memory storage devices. Figure 13 As schematically shown, the load control system logic component 1301 and the remote interface logic component 1350 can be coupled via a wired or wireless network.

[0111] Figure 14 An example of an operation module 1400 of a suspended load control system (“SLCS”) including multiple mode or command state modules according to one embodiment is shown. Instructions to the decision and operation module 1400, or instructions embodying the decision and operation module 1400, may be stored, for example, in memory 1325, and may be executed or operated by, for example, a processor 1320, as well as circuitry, firmware, and other computer and logic hardware of the SLCS with which the operation module 1400 may interact. In several embodiments, some or all of the computer processor and memory used to execute the operation module 1400 may be located remotely from the SLCS, such as in an auxiliary computer within a carrier.

[0112] In block 1405, the suspended load control system device can be mounted on the load and / or on the cable suspending the load. The suspended load control system device does not require power for installation.

[0113] In block 1410, the Suspended Load Control System (“SLCS”) in the device can be activated and the Operation Module 1400 can be activated. In some embodiments, the Operation Module 1400 can be initialized by pressing a button located on the face of the control module of the SLCS. Near the accessible external button that can initialize the Operation Module 1400, there may be another button that allows immediate shutdown when pressed. In addition to the initialization interface on the central or control module, the Operation Module 1400 can also be initialized by an operator not directly near the system. One or more external operators, including but not limited to rescue personnel at the cable end, can initialize the Operation Module 1400 by pressing a button on one or more remote interfaces wirelessly linked to the Operation Module 1400. One or more modules of the complete SLCS, such as physically separate control units, turbine units, etc., can be activated in block 1410 and can be paired to work together. During block 1410, the Operation Module 1400 can determine the relative orientation of the turbine unit to be controlled by the Operation Module 1400. This determination can be based on sensor information from the turbine unit, such as compass heading sampled from each turbine unit. This determination can be performed to adjust wind turbine units that are not parallel to each other, such as when modular SLCSs are deployed on irregular loads (such as rope or webbing enclosed loads) and the wind turbine units may not be parallel. This determination can be used regarding wind turbine mapping in box 1530. This determination may not be necessary when the SLCS is in a rigid frame and it can be assumed that the wind turbine units are parallel to each other. This determination may produce erroneous conditions if the wind turbine units are not within an acceptable orientation range.

[0114] In block 1415, operation module 1400 is activated and / or receives a function mode or command state selected by the operator. In block 1420, operation module 1400 can execute or invoke suspended load control decision and thrust control module 1500 as a subroutine or submodule to implement the function mode or command state. The system's function modes or command states may include:

[0115] Idle mode 1421: The internal system of the SLCS is operating (e.g., the operation module 1400 observes the movement of the SLCS and calculates the corrective action), but the thruster is turned off or only maintains the idle speed without any action affecting the movement of the load.

[0116] Maintaining relative position to ship mode 1422: Stabilizes the SLCS relative to the suspension origin. For example, when the SLCS has a load suspended below a helicopter, the SLCS will remain directly below the helicopter. Maintaining relative position to ship mode 1422 positions the ship's motion and performs the corrective actions required for critical damping of any other suspended load motion. If the ship is traveling at low speed, maintaining relative position to ship mode 1422 will couple the speed, so the two entities move in unison. When a disturbance is generated to the load, maintaining relative position to ship mode 1422 provides thrust in the direction of the disturbance to counteract the disturbance, thereby eliminating sway.

[0117] Move to / Stop in Position Mode 1423: Stabilizes the SLCS to a fixed position, counteracting the effects of weather or minor movements of the helicopter or other suspended platform. This mode has the effect of terminating all movement. The operator can send the desired target position to the SLCS via a remote interface. This can be achieved in at least two ways:

[0118] Target Node Positioning 1424: The operator can place the reference position sensor 1368 at the desired location or the target. The reference position sensor 1368 can wirelessly communicate with the target node positioning 1424 module to indicate the desired location, and the target node positioning 1424 module responds by manipulating the SLCS to the desired location. The remote interface display 1361 can receive and display the position information of both entities.

[0119] User-specified location / orientation 1425: The operator can use the remote interface display 1361 to send a specified location (e.g., latitude and longitude coordinates) or orientation as a command location to the user-specified location / orientation 1425 module. The system will then stably guide the suspended load to the desired location or orientation. The system will simultaneously send feedback on location, distance, and orientation information to the remote interface logic unit 1350.

[0120] Position Holding Mode 1426: Resists all motions of the SLCS and maintains the current position and / or orientation independently of the ship's motion. This module has the effect of terminating all motions. This module has conditional responses for the ship's speed, safety factor, and physical constraints, respectively.

[0121] Direct Control Mode 1427: Joystick operation of the SLCS in three degrees of freedom. Although the operation module 1400 is a fully closed loop and requires no external control during operation, options for user control exist. The operator can provide input to the Direct Control Mode 1427 module to directly control positioning, rotation, and thruster output level.

[0122] Obstacle avoidance module 3800: Receives and processes sensor information to 1) equalize the distance between the sensor location (e.g., at the wind turbine unit) and sensed objects (e.g., obstacles) in the environment, or 2) measure or receive the geometry of the load, measure the geometry of sensed obstacles in the environment, determine or receive the position, orientation, and movement of the load, and negotiate the load relative to the obstacles. See, for example, Figure 3800 and the discussion of obstacle avoidance module 3800.

[0123] In box 1430, the operator completes the operation and retrieves the SLCS.

[0124] In box 1435, the operation module 1400 can be shut down by pressing a button on the interactive display or by pressing a button on the central module of the SLCS unit. If the SLCS unit includes a foldable frame, propeller arm, or turbine unit, these can be folded down. If the SLCS unit includes removable modules such as those for the turbine unit, housing, power supply housing, etc., these modules can be removed or detached from the load. The load can be detached from the load hook, etc., and then the suspension cable can be detached from the lifting ring at the top of the load and / or the SLCS. The SLCS can then be stored in and / or electrically coupled to the charger and / or any suitable location.

[0125] Figure 15 A decision and thrust control module 1500 of a suspended load control system according to one embodiment is shown. Instructions to the decision and thrust control module 1500, or instructions embodying the decision and thrust control module 1500, may be stored, for example, in memory 1325, and may be executed or operated by, for example, a processor 1320, as well as circuitry, firmware, and other computer and logic hardware of the SLCS with which the decision and thrust control module 1500 can interact. In several embodiments, some or all of the computer processors and memories used to execute the decision and thrust control module 1500 may be located remotely from the SLCS, such as in an auxiliary computer within a carrier.

[0126] The decision and thrust control module 1500 can operate in a closed loop to understand its position and motion in near real time, determine the most desired system response, and send the desired response to the air propulsion system thruster array to mitigate cable sway or otherwise control the load during operation.

[0127] At box 1505, the decision and thrust control module 1500 can obtain data from sensors, such as sensor 1305, such as accelerometers, gyroscopes, magnetometers, GPS, LIDAR / radar, machine vision and / or rangefinders.

[0128] In block 1510, the decision and thrust control module 1500 combines data from sensors to obtain data fusion describing the position, orientation, motion, and environment of the SLCS device.

[0129] Sensor data is fused and filtered by the SLCS using a nonlinear style of Kalman filter to produce an accurate representation of the system state. The closed-loop control method, including fuzzy-tuned proportional, integral, and derivative feedback controllers, communicates bidirectionally with the advanced control method, which includes deep learning neural networks and future propagation Kalman filters, allowing for further real-time system identification.

[0130] In block 1515, the decision and thrust control module 1500 uses a nonlinear state estimator to perform state estimation to predict near-future motion based on data fusion and feedback from the decision and control engine to the state estimator.

[0131] In box 1517, the decision and thrust control module 1500 receives a function mode selection, for example, based on user input.

[0132] In block 1520, the decision and thrust control module 1500 acquires a state estimate 1515 notified by a user-selected function mode or command state 1517, as well as additional feedback from the thrust and orientation map 1525 and the output control 1535, and determines the desired direction of motion or rotation of the SLCS.

[0133] The algorithm output is sent to a motion or power controller, such as an ESC, which sends the desired thrust response to the EDF via phase control, for example, a pulse-modulated power signal. The net thrust output is mapped in real time via an encoder and a force sensor, and then sent back to the decision and control block 1520 for forward closed-loop control.

[0134] In block 1525, the decision and thrust control module 1500 maps the desired orientation to the thrust vector from the EDF to generate a thrust and orientation mapping, thereby achieving the determined thrust and orientation of the SLCS device.

[0135] In block 1530, the decision and thrust control module 1500 maps the thrust and orientation mapping to the turbine thrust vector and generates a turbine mapping to control the EDF to achieve the desired thrust and orientation of the SLCS.

[0136] The fan mapping may include a non-rotating fan. The non-rotating fan may be braked, for example, by engaging the solenoid 210.

[0137] When controlling the EDF and generating the turbine mapping, the decision and thrust control module 1500 can map the thrust vector expected to be output from the EDF.

[0138] In block 1535, the decision and thrust control module 1500 applies a fan mapping to output power control signals to the fan or thruster (or the electronics controlling the fan or thruster) to achieve the thrust and orientation determined by the SLCS device, applying commands to the control output and providing a dynamic response in the form of thrust from the fan. When the fan is part of a bidirectional thrust assembly, the output power control signal to the motor (e.g., motor 400) may include the motor's rotation direction to selectively transmit torque to the fan drawn in block 1530.

[0139] At completion box 1599, the decision and thrust control module 1500 can end or return to the module that may have called it.

[0140] In addition to the advanced operator-selectable function control modes, the decision and thrust control module 1500 can be unmanned and automated. The net output is the control force used to move or stabilize the suspended load, which can be achieved by activating one or more bidirectional thrust components.

[0141] An example illustrating the use of the bidirectional thrust assembly can be found in Figure 16 , Figure 17 and Figure 18 The examples are not exhaustive. Other embodiments include bidirectional thrust assemblies in ships, lighter-than-air aircraft, etc.

[0142] exist Figure 16 In the example shown, the SLCS1605 includes bidirectional thrust assemblies 1601A and 1601B, and is suspended on a suspension cable 1610 below a carrier 1615, which may be, for example, a crane. The SLCS1605, including one or more bidirectional thrust assemblies, can be used to control a load 1620, including by using a thrust control module.

[0143] exist Figure 17 In the example shown, the SLCS1705 includes bidirectional thrust assemblies 1701A and 1701B, and is suspended on a suspension cable 1710 below a carrier 1715, which may be, for example, a helicopter. The SLCS1705, including one or more bidirectional thrust assemblies, can be used to control a load 1720, including by using a thrust control module.

[0144] exist Figure 18 In the example shown, SLCS1805 includes bidirectional thrust assembly 1801A and bidirectional thrust assembly 1801B, and is suspended on a suspension cable 1810 below a carrier 1815, which may be, for example, a vertical takeoff and landing vehicle, an aerial drone, etc. The carrier 1815 may include bidirectional thrust assembly 1802A and bidirectional thrust assembly 1802B.

[0145] The SLCS1805, which includes one or more bidirectional thrust assemblies, can be used to control the load 1820, while the vehicle (e.g., carrier 1815) can include one or more bidirectional thrust assemblies for maneuvering and / or thrust purposes, including by using a thrust control module.

[0146] Figure 19 Additional examples of a bidirectional thrust assembly 1900 according to several embodiments are shown, which can be understood as a differential transmission.

[0147] exist Figure 19 In this configuration, motor 1910 generates power, such as torque, which can be output via rotation in one direction via shaft 1915. Drive pinion 1920 transmits power to housing ring gear 1921. Housing ring gear 1921 is continuous with housing 1935 or is an integral part of housing 1935. Rotation of housing ring gear 1921 causes housing 1935 to rotate. Internal pinions 1930A and 1930B freely rotate around bearings that secure them to housing 1935.

[0148] Output shafts 1940A and 1940B are disengaged from housing 1935 via bearings and can rotate independently of housing 1935. Output shafts 1940A and 1940B are fixed to clutches or flywheels 1905A and 1905B. Clutches or flywheels 1905A and 1905B are fixed to fans 1945A and 1945B, such as unidirectional fans, such as fans 700A and 700B.

[0149] Rotation of housing 1935 (e.g., by torque from motor 1910) causes internal pinions 1930A and 1930B to rotate about the central axis of output shafts 1940A and 1940B. If the loads on output shafts 1940A and 1940B are equal, internal pinions 1930A and 1930B will not rotate about the bearings that hold them to housing 1935, but will rotate about the central axis of output shafts 1940A and 1940B, causing output shafts 1940A and 1940B to rotate in the same direction. Because rotation of both output shafts 1940A and 1940B may be undesirable, such as if simultaneous rotation and thrust of both fans 1945A and 1945B is undesirable, clutches or flywheels 1905A and 1905B selectively prevent or allow power transmission to one or both fans 1945A and 1945B.

[0150] In several embodiments, clutches or flywheels 1905A and 1905B may be, for example, flywheel assemblies, such as flywheel assembly 208, which can rotate freely in opposite directions; for example, clutch or flywheel 1905A may allow clockwise rotation, while clutch or flywheel 1905B may allow counterclockwise rotation (downward along output shaft 1940 when viewed from one direction). In one embodiment, rotation of motor 1910 in the first direction passively transmits torque to the first fan via a differential transmission, causing the first fan to rotate and generate thrust, bypassing the power transmission to the second fan; in another embodiment, rotation of motor 1910 in the second direction passively transmits torque to the second fan via a differential transmission, causing the second fan to rotate and generate thrust, bypassing the power transmission to the first fan.

[0151] In several embodiments, the clutches or flywheels 1905A and 1905B may be, for example, clutches that can be engaged or disengaged to transmit or not transmit power (such as torque) from one of the motors 1910, output shafts 1940A or 1940B to the fans 1945A or 1945B. In embodiments where the clutches or flywheels 1905A and 1905B are clutches, the clutches may be actively engaged or disengaged via a clutch activation mechanism (e.g., via a solenoid, etc.). This active engagement mechanism may obtain power from, for example, an electrical connection via slip rings on output shafts 1940A and / or 1940B. In embodiments where the clutches or flywheels 1905A and 1905B are clutches, the clutches may be passively engaged or disengaged via a clutch activation mechanism, for example by rotational and inertial directions, in a manner similar to the pawl engagement mechanism 506, the recess 510, and the pawl wheel 500, via a hydraulic clutch activation mechanism, etc.

[0152] In one embodiment, motor 1910 can rotate in one direction without changing its direction of rotation. In such an embodiment, clutches or flywheels 1905A and 1905B can be actively engaged to prevent some or all of the power from being transmitted to one or both of fans 1945A and 1945B.

[0153] Fans 1945A and / or 1945B can be unidirectional fans configured to output thrust vectors, for example, in opposite directions. Fans 1945A and / or 1945B can be configured to output thrust vectors in opposite directions when rotating in the same or opposite directions.

[0154] Figure 20An example of a motor 2005 fixed to a fan within an outlet port 2020 is shown, which may be part of a bidirectional thrust device, system, and method as disclosed herein. The fan within the outlet port 2020 may be, for example, a unidirectional fan. A heat sink may include blades 2010 projecting from the motor into a fluid, such as the thrust fluid drawn into the fan within the outlet port 2020. Frames 1015A and 1015B may support the motor 2005 between the outlet ports 2020 and / or within a housing similar to housing 102, which may include a fluid inlet similar to fluid inlet 104. Frames 1015A and 1015B may be continuous with and / or fixed to the blades 2010. Similar to housing 102, the housing may be fixed to the outer edge of the blades 2010. The blades 2010 may resemble radiator fins 410. The motor 2005 may resemble motor 400. The windings of motor 2005 may be close to blade 2010; the permanent magnets of motor 2005 may be close to the shaft of the fan leading to outlet port 2020; heat generated in the windings close to blade 2010 may radiate or otherwise conduct from motor 2005 to the surrounding fluid, such as thrust fluid. A flywheel assembly similar to flywheel assembly 208 may be present, such that motor 2005 of the fan fixed to outlet port 2020 operates as a bidirectional thrust assembly, as discussed herein. Blade 2010 may include internal channels or conduits for containing liquids (such as water, water with propylene glycol, etc.), wherein the liquid may passively or actively flow into a radiator outside the housing and dissipate heat from motor 2005.

[0155] In this way, the heat sink can dissipate heat from the motor, especially when the motor, as described in this article, can operate at a high duty cycle because it powers two fans instead of just one.

[0156] The apparatus and methods of this disclosure have been described foregoing based on several preferred embodiments. Different aspects of different variations are considered to be described in combination with each other, such that all combinations can be considered to be read within the concept of this disclosure by those skilled in the art at this time of reading. Preferred embodiments do not limit the scope of protection of this document.

[0157] The embodiments of the operations described herein can be implemented in a computer-readable storage device on which instructions are stored, which, when executed by one or more processors, perform the methods. The processor may include, for example, a processing unit and / or programmable circuitry. The storage device may include a machine-readable storage device, comprising any type of tangible, non-transitory storage device, such as any type of disk, including floppy disks, optical disks, optical disc read-only memory (CD-ROM), rewritable optical discs (CD-RW), and magneto-optical disks, semiconductor devices such as read-only memory (ROM), random access memory (RAM) (such as dynamic and static RAM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic cards, or optical cards, etc.), or any storage device suitable for storing electronic instructions. USB (Universal Serial Bus) may conform to or be compatible with Universal Serial Bus Specification Revision 2.0 and / or higher versions of this specification, published by the Universal Serial Bus Organization on April 27, 2000, such as Universal Serial Bus Specification Revision 3.1 published on July 26, 2013. PCIe may conform to or be compatible with PCI Express 3.0 Basic Specification Revision 3.0 and / or higher versions and / or related versions, published by the Peripheral Component Interconnect Special Interest Group (PCI-SIG) in November 2010.

[0158] As used in any of the embodiments herein, the term "logic" may refer to the logic of the instructions of an application, software, and / or firmware, and / or the logic embodied in a programmable circuit through a configuration bitstream to perform any of the above operations. Software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as hard-coded (e.g., non-volatile) code, instructions, or instruction sets and / or data in a memory device.

[0159] As used in any of the embodiments herein, “circuit” may, for example, include hard-wired circuitry, programmable circuitry such as an FPGA, either alone or in any combination. Logic may be embodied collectively or individually as circuitry forming part of a larger system, such as integrated circuits (ICs), application-specific integrated circuits (ASICs), system-on-a-chip (SoCs), desktop computers, laptop computers, tablet computers, servers, smartphones, etc.

[0160] In some embodiments, a hardware specification language (HDL) can be used to specify circuit and / or logic implementations for the various logics and / or circuits described herein. For example, in one embodiment, the hardware specification language may conform to or be compatible with the Very High Speed ​​Integrated Circuit (VHSIC) Hardware Specification Language (VHDL), which can implement the semiconductor fabrication of one or more circuits and / or logics described herein. The VHDL may conform to or be compatible with IEEE Standard 1076-1987, IEEE Standard 1076.2, IEEE 1076.1, IEEE Draft 3.0 of VHDL-2006, IEEE Draft 4.0 of VHDL-2008, and / or other versions of the IEEE VHDL standard and / or other hardware specification standards.

[0161] As used herein, the term "module" (or "logic") may refer to, be part of, or include: an application-specific integrated circuit (ASIC), a system-on-a-chip (SoC), electronic circuitry, programmable circuitry (such as a field-programmable gate array (FPGA)), a processor (shared, dedicated, or grouped) and / or memory (shared, dedicated, or grouped), or another computer hardware component or device that executes one or more software or firmware programs having executable machine instructions (generated from an assembler and / or compiler) or combinations thereof; and / or other suitable components having logic that provides the described functionality. A module may be a distinct and independent component integrated by sharing or transferring data, or a module may be a sub-component of a single module, or split among several modules. A component may be a process that runs or is implemented on a single computing node, or a process distributed among multiple computing nodes that run in parallel, simultaneously, sequentially, or in combination, which may be described more fully in conjunction with the flowcharts in the accompanying drawings.

[0162] As used herein, a process corresponds to an instance of a program (e.g., an application) executing on a processor, and a thread corresponds to a portion of a process. A processor may include one or more execution cores. A processor may be configured as one or more sockets, each socket may include one or more execution cores.

[0163] As used herein, “releasable,” “connect,” “connected,” “connectable,” “disconnect,” “disconnected,” and “disconnectable” refer to two or more structures that can be connected or disconnected, typically without tools (examples of tools include screwdrivers, pliers, drills, saws, welding machines, welding torches, irons, and other heat sources) or with tools but in a repeatable manner (e.g., by using nuts and bolts or screws). As used herein, “attach,” “attached,” or “attachable” refer to two or more structures or components attached by means of tools or by chemical or physical bonding, but in which the structures or components cannot typically be released or reattached in a repeatable manner. As used herein, “secure,” “secured,” or “securable” refer to two or more structures or components that are connected or attached.

[0164] Having described in detail embodiments of this disclosure and with reference to its illustrative embodiments, it will be apparent that modifications and variations are possible without departing from the scope of this disclosure.

[0165] The following are non-restrictive examples.

[0166] Example 1: A bidirectional thrust assembly includes: a motor, a drive shaft, a first fan and a second fan, and a selective power transmission mechanism, wherein the selective power transmission mechanism transmits torque from the motor to the first fan or the second fan.

[0167] Example 2. According to the bidirectional thrust assembly of Example 1, the motor is operable in a first rotational direction and a second rotational direction, wherein the first rotational direction causes a selective power transmission mechanism to transmit torque from the motor to a first fan, and wherein the second rotational direction causes the selective power transmission mechanism to transmit torque from the motor to a second fan.

[0168] Example 3. According to the bidirectional thrust assembly of Example 2, the change in the rotation direction of the motor between a first rotation direction and a second rotation direction will passively cause the selective power transmission mechanism to change the torque transmission between the first fan and the second fan.

[0169] Example 4. A bidirectional thrust assembly according to Example 2, wherein the first fan and the second fan are unidirectional fans configured to propel thrust fluid and generate thrust in opposite directions.

[0170] Example 5. According to the bidirectional thrust assembly of Example 3, passively causing the selective power transmission mechanism to change the torque transmission between the first and second fans is to cause the selective power transmission mechanism to change the torque transmission between the first and second fans without the need for an independent power actuator.

[0171] Example 6. A bidirectional thrust assembly according to Example 2, wherein the power for the selective power transmission mechanism is provided solely by a motor.

[0172] Example 7. A bidirectional thrust assembly according to Example 1, wherein the power transmission mechanism includes a first flywheel assembly between the drive shaft and the first fan and a second flywheel assembly between the drive shaft and the second fan.

[0173] Example 8. According to the bidirectional thrust assembly of Example 7, wherein the first flywheel assembly and the second flywheel assembly engage or disengage with the motor based on the direction of rotation of the motor, so that the selective power transmission mechanism transmits torque from the motor to the first fan or the second fan.

[0174] Example 9. A bidirectional thrust assembly according to Example 7, wherein the first flywheel assembly includes a pawl and ratchet teeth.

[0175] Example 10. A bidirectional thrust assembly according to Example 9, wherein a pawl is used to selectively engage with ratchet teeth in response to rotation of the motor in a first direction.

[0176] Example 11. A bidirectional thrust assembly according to Example 10, wherein the pawl selectively disengages from the ratchet teeth in response to rotation of the motor in a second direction.

[0177] Example 12. A bidirectional thrust assembly according to Example 9, wherein the first flywheel assembly includes a pawl engagement mechanism.

[0178] Example 13. A bidirectional thrust assembly according to Example 12, wherein the pawl engagement mechanism includes a spring, wherein the spring, in response to rotation of the motor in the rotational direction, drives the pawl into ratchet teeth, wherein the ratchet teeth transmit torque from the pawl to the drive shaft.

[0179] Example 14. According to the bidirectional thrust assembly of Example 12, the inertia of the pawl engagement mechanism and the path of the pawl engagement mechanism within the first flywheel assembly cause the pawl engagement mechanism to engage or disengage with the pawl, thereby causing the pawl to engage or disengage with the ratchet teeth.

[0180] Example 15. According to the bidirectional thrust assembly of Example 14, the rotational direction of the motor interacts with the inertia of the pawl engagement mechanism and the path of the pawl engagement mechanism within the first flywheel assembly to cause the pawl engagement mechanism to engage or disengage with the pawl, thereby causing the pawl to engage or disengage with the ratchet teeth.

[0181] Example 16. A bidirectional thrust assembly according to Example 1, wherein the drive shaft is a double-ended drive shaft that passes through the center of the motor.

[0182] Example 17. A bidirectional thrust assembly according to Example 16, wherein a first end of a dual-end drive shaft is used to engage with a first end of a selective power transmission mechanism, wherein the first end of the selective power transmission mechanism is used to engage with a first fan, wherein a second end of the dual-end drive shaft is used to engage with a second end of the selective power transmission mechanism, wherein the second end of the selective power transmission mechanism is used to engage with a second fan.

[0183] Example 18. According to the bidirectional thrust assembly of Example 1, a change in the rotation direction of the motor causes a change in the centrifugal force within the selective power transmission mechanism, and the change in the centrifugal force within the selective power transmission mechanism causes the selective power transmission mechanism to change the torque transmission between the first fan and the second fan.

[0184] Example 19. A bidirectional thrust assembly according to Example 1, wherein a first fan and a second fan rotate about a common axis of rotation.

[0185] Example 20. A bidirectional thrust assembly according to Example 1, wherein a first fan and a second fan propel thrust fluid in opposite directions.

[0186] Example 21. A bidirectional thrust assembly according to Example 1, wherein the first and second fans are unidirectional fans, wherein the unidirectional fans include blades with an asymmetrical profile, wherein the asymmetrical profile generates greater thrust when rotating in one direction.

[0187] Example 22. The bidirectional thrust assembly according to Example 1 also includes a housing, wherein the housing surrounds the first fan, the second fan, the drive shaft, and the selective power transmission mechanism.

[0188] Example 23. A bidirectional thrust assembly according to Example 22, wherein the housing includes a thrust fluid inlet.

[0189] Example 24. The bidirectional thrust assembly according to Example 1 further includes a computer processor and a memory, wherein the memory includes a thrust control module that, when executed by the computer processor, controls the motor to selectively output thrust through the first and second fans, thereby affecting the movement of the bidirectional thrust assembly.

[0190] Example 25. The bidirectional thrust assembly according to Example 24 further includes a sensor suite, wherein the thrust control module, when executed by a computer processor, is used to determine the position, orientation, or movement of the bidirectional thrust assembly based on sensor data from the sensor suite, and to control the motor to selectively output thrust through the first fan and the second fan according to the position, orientation, or movement, so as to affect at least one of the position, orientation, or movement of the bidirectional thrust assembly.

[0191] Example 26. A bidirectional thrust assembly according to Example 24, wherein the bidirectional thrust assembly is a first bidirectional thrust assembly, the motor is a first motor, and further includes a second bidirectional thrust assembly, wherein the second bidirectional thrust assembly includes a second motor, and wherein a thrust control module, when executed by a computer processor, controls the first motor and the second motor to apply at least one of a horizontal thrust vector or torque to the first bidirectional thrust assembly and the second bidirectional thrust assembly.

[0192] Example 27. A bidirectional thrust assembly according to Example 25, wherein the thrust control module combines sensor data from a sensor suite using a nonlinear filter to determine the current state to determine position, orientation, or motion.

[0193] Example 28. According to the bidirectional thrust assembly of Example 27, wherein the thrust control module is further configured to predict near-future motion based on feedback from at least one of the functional mode or command state from the operation module, the thrust and orientation map, or the turbine map, based on the current state.

[0194] Example 29. A bidirectional thrust assembly based on Example 27, wherein the nonlinear filter is a Kalman filter.

[0195] Example 30. A bidirectional thrust assembly according to Example 28, wherein the functional mode or command state includes at least one of idling, maintaining relative position or position relative to the carrier, moving to position, maintaining position, obstacle avoidance, or direct control.

[0196] Example 31. A bidirectional thrust assembly according to Example 1, wherein the motor includes a heat transfer structure.

[0197] Example 32. A bidirectional thrust assembly according to Example 31, wherein the heat transfer structure is arranged radially around the motor in the thrust fluid flow.

[0198] Example 33. A bidirectional thrust assembly according to Example 31, wherein the motor includes a magnet near the drive shaft and a winding away from the drive shaft, and wherein heat generated in the winding is transferred to a heat transfer structure and a thrust fluid around the motor.

[0199] Example 34. The bidirectional thrust assembly according to Example 1 further includes a brake, wherein the brake resists movement of at least one of the first fan or the second fan.

[0200] Example 35. A bidirectional thrust assembly according to Example 34, wherein a selective power transmission mechanism is used to transmit torque from a motor to the first of the first or second fans, and a brake is used to prevent movement of the second of the first or second fans.

[0201] Example 36. A bidirectional thrust assembly according to Example 35, wherein the brake is used to prevent movement of the first fan or the second of the second fans by utilizing at least one of a magnetic brake or a friction brake.

[0202] Example 37. According to the bidirectional thrust assembly of Example 1, wherein the selective power transmission mechanism further includes a clutch, wherein the clutch causes the selective power transmission mechanism to transmit torque from the motor to the first of the first or second fan, and prevents torque from being transmitted to the second of the first or second fan.

[0203] Example 38. The bidirectional thrust assembly according to Example 1, wherein the selective power transmission mechanism further includes a differential transmission.

[0204] Example 39. A method for selectively transmitting torque from a motor to a first unidirectional fan or a second unidirectional fan, comprising: operating the motor in a first rotational direction to transmit torque from the motor to the first unidirectional fan via a drive shaft and a selective power transmission mechanism, and operating the motor in a second rotational direction to transmit torque from the motor to the second unidirectional fan via a drive shaft and a selective power transmission mechanism.

[0205] Example 40. The method according to Example 39 further includes operating the motor in a first rotational direction to passively transmit torque from the motor to a first unidirectional fan via a drive shaft and a selective power transmission mechanism, and operating the motor in a second rotational direction to passively transmit torque from the motor to a second unidirectional fan via a drive shaft and a selective power transmission mechanism.

[0206] Example 41. According to the method of Example 40, the passive transmission of torque from the motor includes changing the torque transmission between the first unidirectional fan and the second unidirectional fan based solely on the first and second rotational directions, without the need for a separate power actuator in the selective power transmission mechanism.

[0207] Example 42. According to the method of Example 39, wherein the first unidirectional fan and the second unidirectional fan are configured to propel the thrust fluid and generate thrust in opposite directions.

[0208] Example 43. According to the method of Example 39, the selective power transmission mechanism includes a first flywheel assembly between the drive shaft and the first unidirectional fan and a second flywheel assembly between the drive shaft and the second unidirectional fan.

[0209] Example 44. According to the method of Example 43, the motor operates in a first rotational direction and the first flywheel assembly engages with the drive shaft to transmit torque from the motor to a first unidirectional fan, and the motor operates in a second rotational direction and the second flywheel assembly engages with the drive shaft to transmit torque from the motor to a second unidirectional fan.

[0210] Example 45. According to the method of Example 43, the first flywheel assembly includes a pawl and ratchet teeth.

[0211] Example 46. The method according to Example 45 further includes engaging the pawl with the ratchet teeth by rotating the motor in a first direction.

[0212] Example 47. The method according to Example 45 further includes disengaging the pawl from the ratchet teeth by rotating the motor in a second direction.

[0213] Example 48. Following the method of Example 39, where the drive shaft is a double-ended drive shaft that passes through the center of the motor.

[0214] Example 49. Following the method of Example 39, wherein the first unidirectional fan and the second unidirectional fan rotate about a common axis of rotation.

[0215] Example 50. The method according to Example 39 further includes using a first unidirectional fan and a second unidirectional fan to propel the thrust fluid in opposite directions.

[0216] Example 51. According to the method of Example 39, wherein the first unidirectional fan and the second unidirectional fan include blades with an asymmetrical profile.

[0217] Example 52. The method according to Example 39 further includes drawing thrust fluid for the first unidirectional fan and the second unidirectional fan into a housing, wherein the housing surrounds the first unidirectional fan, the second unidirectional fan, the drive shaft, and the selective power transmission mechanism.

[0218] Example 53. The method according to Example 52 further includes drawing thrust fluid for the first unidirectional fan and the second unidirectional fan into a thrust fluid inlet in the housing, wherein the thrust fluid inlet is a radial inlet centrally located between the first unidirectional fan and the second unidirectional fan.

[0219] Example 54. The method according to Example 39 further includes controlling the motor using a computer processor, the computer processor obtaining instructions from memory, and using the instructions and the computer processor, controlling the motor to selectively output thrust through a first unidirectional fan and a second unidirectional fan to influence the movement of a load fixed to the housing, wherein the housing is fixed to the computer processor, memory, motor, drive shaft, first unidirectional fan and second unidirectional fan.

[0220] Example 55. The method according to Example 54 further includes using instructions and a computer processor to determine the position, orientation, or movement of the load using sensor data from the sensor suite, and controlling the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan based on the position, orientation, or movement to affect at least one of the position, orientation, or movement of the load.

[0221] Example 56. The method of Example 55 further includes using instructions and a computer processor to combine sensor data from the sensor suite via a nonlinear filter to determine the current state and thus determine the position, orientation, or motion of the load.

[0222] Example 57. Following the method of Example 56, where the nonlinear filter is a Kalman filter.

[0223] Example 58. The method according to Example 56 further includes using instructions and a computer processor to predict near-future motion based on the current state, taking into account feedback from at least one of the functional mode or command state of the operating module, thrust and orientation mapping or turbine mapping.

[0224] Example 59. According to the method of Example 58, the functional mode or command state includes at least one of idling, maintaining relative position or position relative to the carrier, moving to position, maintaining position, obstacle avoidance, or direct control.

[0225] Example 60. According to the method of Example 54, wherein the motor is a first motor, and a second motor is also included between the third unidirectional fan and the fourth unidirectional fan, and further includes controlling the first motor and the second motor to apply at least one of a horizontal thrust vector or torque on the load using instructions and a computer processor.

[0226] Example 61. The method according to Example 39 further includes dissipating heat from the motor using a heat transfer structure, wherein the heat transfer structure includes blades arranged radially around the motor in the thrust fluid flow.

[0227] Example 62. According to the method of Example 61, the motor includes a magnet near the drive shaft, a winding away from the drive shaft, and also includes generating heat in the winding and transferring the heat in the winding to a heat transfer structure.

[0228] Example 63. The method according to Example 39 further includes using a brake to resist movement of at least one of the first or second fans.

[0229] Example 64. The method according to Example 63 further includes selectively transmitting torque between the first of the first unidirectional fan or the second unidirectional fan, and using a brake to prevent movement of the second of the first fan or the second fan.

[0230] Example 65. According to the method of Example 64, the brake includes at least one of a magnetic brake or a friction brake.

[0231] Example 66. The method of Example 39, wherein the selective power transmission mechanism includes a clutch, and further includes using the clutch to transmit torque from the motor to the first of the first or second fans, and preventing torque from being transmitted to the second of the first or second fans.

[0232] Example 67. According to the method of Example 39, the selective power transmission mechanism includes a differential transmission, and further includes using the differential transmission to transmit torque from the motor to the first of the first or second fans, and to prevent torque from being transmitted to the second of the first or second fans.

[0233] Example 68. An apparatus for selectively transmitting torque from a motor to a first unidirectional fan or a second unidirectional fan, comprising: a component that operates the motor in a first rotational direction to transmit torque from the motor to the first unidirectional fan via a drive shaft and a selective power transmission mechanism; and a component that operates the motor in a second rotational direction to transmit torque from the motor to the second unidirectional fan via a drive shaft and a selective power transmission mechanism.

[0234] Example 69. The apparatus according to Example 68 further includes a component that operates the motor in a first rotational direction to passively transmit torque from the motor to a first unidirectional fan via a drive shaft and a selective power transmission mechanism, and a component that operates the motor in a second rotational direction to passively transmit torque from the motor to a second unidirectional fan via a drive shaft and a selective power transmission mechanism.

[0235] Example 70. The apparatus according to Example 69, wherein the component passively transmitting torque from the motor includes a component that changes the torque transmission between the first unidirectional fan and the second unidirectional fan based solely on a first rotational direction and a second rotational direction, without requiring a separate power actuator in the selective power transmission mechanism.

[0236] Example 71. The apparatus according to Example 68 further includes components for the first unidirectional fan and the second unidirectional fan to propel the thrust fluid and generate thrust in opposite directions.

[0237] Example 72. The apparatus according to Example 68, wherein the selective power transmission mechanism includes components for a first flywheel assembly between the drive shaft and a first unidirectional fan and a second flywheel assembly between the drive shaft and a second unidirectional fan.

[0238] Example 73. The apparatus of Example 72, wherein the first flywheel assembly includes a component that engages with a drive shaft to transmit torque from the motor to a first unidirectional fan when the motor operates in a first rotational direction, and the second flywheel assembly includes a component that engages with a drive shaft to transmit torque from the motor to a second unidirectional fan when the motor operates in a second rotational direction.

[0239] Example 74. The apparatus according to Example 72, wherein the first flywheel assembly includes components for pawls and ratchet teeth.

[0240] Example 75. The apparatus according to Example 74 further includes a component that engages the pawl with the ratchet teeth by rotating the motor in a first direction.

[0241] Example 76. The apparatus according to Example 74 further includes a component that disengages the pawl from the ratchet teeth by rotating the motor in a second direction.

[0242] Example 77. The apparatus according to Example 68, wherein the drive shaft is a double-ended drive shaft, wherein the double-ended drive shaft passes through the center of the motor.

[0243] Example 78. The apparatus according to Example 68 further includes components for rotating the first unidirectional fan and the second unidirectional fan about a common axis of rotation.

[0244] Example 79. The apparatus according to Example 68 further includes a component that propels the thrust fluid in opposite directions using a first unidirectional fan and a second unidirectional fan.

[0245] Example 80. The apparatus according to Example 68, wherein the first unidirectional fan and the second unidirectional fan include blades having an asymmetrical profile.

[0246] Example 81. The apparatus according to Example 68 further includes a component for drawing thrust fluid for the first unidirectional fan and the second unidirectional fan into a housing, wherein the housing surrounds the first unidirectional fan, the second unidirectional fan, the drive shaft, and the selective power transmission mechanism.

[0247] Example 82. The apparatus according to Example 81 further includes a component for drawing thrust fluid for the first unidirectional fan and the second unidirectional fan into a thrust fluid inlet in the housing, wherein the thrust fluid inlet is a radial inlet centrally located between the first unidirectional fan and the second unidirectional fan.

[0248] Example 83. The apparatus according to Example 68 further includes a component for controlling the motor using a computer processor, wherein the computer processor includes a component for retrieving instructions from a memory, and wherein the instructions include a component for causing the computer processor to control the motor to selectively output thrust via a first unidirectional fan and a second unidirectional fan to influence the movement of a load fixed to the housing, wherein the housing is fixed to the computer processor, the memory, the motor, the drive shaft, the first unidirectional fan, and the second unidirectional fan.

[0249] Example 84. The apparatus according to Example 83 further includes a component for determining the position, orientation, or movement of the load using sensor data from the sensor suite, and a component for controlling the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan to affect at least one of the position, orientation, or movement of the load, depending on the position, orientation, or movement.

[0250] Example 85. The apparatus according to Example 84 further includes a component for determining the position, orientation, or motion of the load by combining sensor data from the sensor suite in a nonlinear filter to determine the current state.

[0251] Example 86. The apparatus according to Example 85, wherein the nonlinear filter is a Kalman filter.

[0252] Example 87. The apparatus according to Example 85 further includes a component for predicting near-future motion based on the current state by utilizing feedback from at least one of the functional mode or command state of the operating module, thrust and orientation mapping or wind turbine mapping.

[0253] Example 88. The apparatus according to Example 87, wherein the functional mode or command state includes a component for at least one of: idling, maintaining a relative position or position relative to the carrier, moving to a position, maintaining a position, avoiding obstacles, or obtaining direct control from a human.

[0254] Example 89. The apparatus according to Example 83, wherein the motor is a first motor, and further includes a second motor between a third unidirectional fan and a fourth unidirectional fan, and further includes a component for controlling the first motor and the second motor to apply at least one of a horizontal thrust vector or torque on the load.

[0255] Example 90. The apparatus according to Example 68 further includes a component for dissipating heat from the motor using a heat transfer structure, wherein the heat transfer structure includes blades arranged radially around the motor in the thrust fluid flow.

[0256] Example 91. According to the apparatus of Example 90, the motor includes a magnet near the drive shaft, a winding away from the drive shaft, and also includes a component for generating heat in the winding and a component for transferring heat in the winding to a heat transfer structure.

[0257] Example 92. The apparatus according to Example 68 further includes a component for resisting movement of at least one of the first or second fans.

[0258] Example 93. The apparatus according to Example 92 further includes a component for selectively transmitting torque between the first of the first unidirectional fan or the second unidirectional fan, and a component for using a brake to prevent movement of the second of the first fan or the second fan.

[0259] Example 94. The apparatus according to Example 93, wherein the brake includes a component for at least one of a magnetic brake or a friction brake.

[0260] Example 95. The apparatus according to Example 68, wherein the selective power transmission mechanism includes a clutch, and further includes a component for transmitting torque from the motor to the first of the first or second fans, and a component for preventing the transmission of torque to the second of the first or second fans by means of the clutch.

[0261] Example 96. The apparatus according to Example 68, wherein the selective power transmission mechanism includes a differential transmission, and further includes a component for transmitting torque from the motor to the first of the first or second fans, and a component for preventing torque from being transmitted to the second of the first or second fans via the differential transmission.

[0262] Example 97. One or more computer-readable media, including instructions that cause a computer device to, in response to execution of the instructions by a processor of the computer device,: operate a motor in a first rotational direction to transmit torque from the motor to a first unidirectional fan via a drive shaft and a selective power transmission mechanism, and operate the motor in a second rotational direction to transmit torque from the motor to a second unidirectional fan via a drive shaft and a selective power transmission mechanism, thereby selectively transmitting torque from the motor between the first and second unidirectional fans.

[0263] Example 98. According to the computer-readable medium of Example 97, the instructions further cause the processor of the computer device to operate the motor in a first rotational direction to passively transmit torque from the motor to a first unidirectional fan via a drive shaft and a selective power transmission mechanism, and to operate the motor in a second rotational direction to passively transmit torque from the motor to a second unidirectional fan via a drive shaft and a selective power transmission mechanism.

[0264] Example 99. According to the computer-readable medium of Example 98, passively transmitting torque from a motor includes changing the torque transmission between a first unidirectional fan and a second unidirectional fan based solely on a first rotational direction and a second rotational direction, without requiring a separate power actuator in a selective power transmission mechanism.

[0265] Example 100. According to the computer-readable medium of Example 97, a first unidirectional fan and a second unidirectional fan are configured to propel thrust fluid and generate thrust in opposite directions.

[0266] Example 101. According to the computer-readable medium of Example 97, the selective power transmission mechanism includes a first flywheel assembly between the drive shaft and a first unidirectional fan and a second flywheel assembly between the drive shaft and a second unidirectional fan.

[0267] Example 102. According to the computer-readable medium of Example 101, the instructions further cause the processor of the computer device to engage a first flywheel assembly with a drive shaft to transmit torque from the motor to a first unidirectional fan by operating the motor in a first rotational direction, and to engage a second flywheel assembly with a drive shaft to transmit torque from the motor to a second unidirectional fan by operating the motor in a second rotational direction.

[0268] Example 103. According to the computer-readable medium of Example 101, the first flywheel assembly includes a pawl and ratchet teeth.

[0269] Example 104. According to the computer-readable medium of Example 103, the instructions further cause the processor of the computer device to engage the pawl with the ratchet teeth by rotating the motor in a first direction.

[0270] Example 105. According to the computer-readable medium of Example 103, the instructions further cause the processor of the computer device to disengage the pawl from the ratchet teeth by rotating the motor in a second direction.

[0271] Example 106. According to the computer-readable medium of Example 97, the drive shaft is a double-ended drive shaft, wherein the double-ended drive shaft passes through the center of the motor.

[0272] Example 107. According to the computer-readable medium of Example 97, a first unidirectional fan and a second unidirectional fan rotate about a common axis of rotation.

[0273] Example 108. According to the computer-readable medium of Example 97, the instructions further cause the processor of a computer device to propel the thrust fluid in opposite directions using a first unidirectional fan and a second unidirectional fan.

[0274] Example 109. According to the computer-readable medium of Example 97, the first unidirectional fan and the second unidirectional fan include blades with an asymmetrical profile.

[0275] Example 110. According to the computer-readable medium of Example 97, the instructions further cause the processor of the computer device to draw thrust fluid for the first unidirectional fan and the second unidirectional fan into a housing, wherein the housing surrounds the first unidirectional fan, the second unidirectional fan, the drive shaft, and the selective power transmission mechanism.

[0276] Example 111. According to the computer-readable medium of Example 110, the instructions further cause the processor of the computer device to draw thrust fluid for the first unidirectional fan and the second unidirectional fan into a thrust fluid inlet in the housing, wherein the thrust fluid inlet is a radial inlet centrally located between the first unidirectional fan and the second unidirectional fan.

[0277] Example 112. According to the computer-readable medium of Example 97, the instructions further cause the processor of the computer device to control the motor using the computer processor, wherein the computer processor obtains instructions from memory and uses the instructions to control the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan to affect the movement of a load fixed to the housing, wherein the housing is fixed to the computer processor, memory, motor, drive shaft, first unidirectional fan and second unidirectional fan.

[0278] Example 113. According to the computer-readable medium of Example 112, the instructions further cause the processor of the computer device to determine the position, orientation, or movement of the load using sensor data from the sensor suite, and control the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan according to the position, orientation, or movement, so as to affect at least one of the position, orientation, or movement of the load.

[0279] Example 114. According to the computer-readable medium of Example 113, the instructions further cause the processor of the computer device to determine the position, orientation, or motion of the load by combining sensor data from a sensor suite in a nonlinear filter to determine the current state.

[0280] Example 115. According to the computer-readable medium of Example 114, the nonlinear filter is a Kalman filter.

[0281] Example 116. According to the computer-readable medium of Example 115, the instructions further cause the processor of the computer device to predict near-future motion based on feedback from at least one of the functional mode or command state of the operating module, thrust and orientation mapping or wind turbine mapping, based on the current state.

[0282] Example 117. According to the computer-readable medium of Example 116, the functional mode or command state includes at least one of the following: idling, maintaining a relative position or position relative to the carrier, moving to a position, maintaining a position, obstacle avoidance, or direct control.

[0283] Example 118. According to the computer-readable medium of Example 112, wherein the motor is a first motor, and further includes a second motor between a third unidirectional fan and a fourth unidirectional fan, and wherein the instructions further cause the processor of the computer device to control the first motor and the second motor to apply at least one of a horizontal thrust vector or torque on the load.

[0284] Example 119. According to the computer-readable medium of Example 97, the motor includes a heat transfer structure, wherein the heat transfer structure includes blades arranged radially around the motor in a thrust fluid flow.

[0285] Example 120. According to the computer-readable medium of Example 119, the motor includes a magnet near the drive shaft, windings away from the drive shaft, and wherein a heat transfer structure transfers heat generated in the windings to a thrust fluid flow.

[0286] Example 121. According to the computer-readable medium of Example 97, the instructions further cause the processor of the computer device to use a brake to resist movement of at least one of the first or second fans.

[0287] Example 122. According to the computer-readable medium of Example 121, the instructions further cause the processor of the computer device to selectively transmit torque between the first of the first unidirectional fan or the second unidirectional fan, and to use a brake to prevent movement of the second of the first fan or the second fan.

[0288] Example 123. According to the computer-readable medium of Example 122, the brake includes at least one of a magnetic brake or a friction brake.

[0289] Example 124. According to the computer-readable medium of Example 97, the selective power transmission mechanism includes a clutch, and wherein the instructions further cause the processor of the computer device to use the clutch to transmit torque from the motor to the first of the first or second fans, and to prevent torque from being transmitted to the second of the first or second fans.

[0290] Example 125. According to the computer-readable medium of Example 97, the selective power transmission mechanism includes a differential transmission, and wherein the instructions further cause the processor of the computer device to use the differential transmission to transmit torque from the motor to the first of the first or second fans, and to prevent torque from being transmitted to the second of the first or second fans.

Claims

1. A suspended load control system, comprising: A battery pack and a bidirectional thrust assembly, wherein the suspension load control system is suspended on a suspension cable below the carrier and is used to influence at least one of the position, orientation, or movement of the suspension load fixed to the system; The bidirectional thrust assembly includes: a motor, a drive shaft, a first fan, a second fan, and a selective power transmission mechanism. The selective power transmission mechanism is used to transmit torque from the motor to the first fan or the second fan, and wherein the first fan and the second fan are unidirectional fans, the unidirectional fans being configured to propel thrust fluid and generate thrust in opposite directions; The housing surrounds the motor, the first fan, the second fan, the drive shaft, and the selective power transmission mechanism. The housing includes a thrust fluid inlet located at the axial center of the housing. The motor is located at the center of the housing in both the axial and radial directions. The motor includes a heat transfer structure, which includes one or more radiator fins. The radiator fins are radially distributed around the motor and are located in the flow path of the fluid drawn into the housing by the first fan and the second fan through the thrust fluid inlet. The motor is a single motor, which drives the first fan and the second fan. The motor is powered by a battery pack.

2. The suspended load control system according to claim 1, wherein, The motor is operable in a first rotational direction and a second rotational direction, wherein the first rotational direction causes the selective power transmission mechanism to transmit torque from the motor to the first fan, and wherein the second rotational direction causes the selective power transmission mechanism to transmit torque from the motor to the second fan.

3. The suspended load control system according to claim 1, wherein, The power transmission mechanism includes a first flywheel assembly located between the drive shaft and the first fan, and a second flywheel assembly located between the drive shaft and the second fan.

4. The suspended load control system according to claim 3, wherein, The first flywheel assembly and the second flywheel assembly engage or disengage with the motor based on the motor's rotation direction, so that the selective power transmission mechanism transmits torque from the motor to the first fan or the second fan.

5. The suspended load control system according to claim 3, wherein, The first flywheel assembly includes a pawl and ratchet teeth, wherein the pawl selectively engages with the ratchet teeth in response to rotation of the motor in a first direction, and wherein the pawl selectively disengages from the ratchet teeth in response to rotation of the motor in a second direction.

6. The suspended load control system according to claim 1, wherein, The drive shaft is a double-ended drive shaft, wherein the double-ended drive shaft passes through the center of the motor, wherein the first end of the double-ended drive shaft is used to engage with the first end of the selective power transmission mechanism, wherein the first end of the selective power transmission mechanism is used to engage with the first fan, wherein the second end of the double-ended drive shaft is used to engage with the second end of the selective power transmission mechanism, wherein the second end of the selective power transmission mechanism is used to engage with the second fan.

7. The suspended load control system according to claim 1 further includes a computer processor and a memory, wherein, The memory includes a thrust control module, which, when executed by the computer processor, controls the motor to selectively output thrust through the first fan and the second fan.

8. The suspended load control system of claim 7 further includes a sensor suite, wherein, The thrust control module is used to determine the position, orientation, or movement of the suspended load control system and the suspended load based on sensor data from the sensor suite when executed by the computer processor, and to control the motor to selectively output thrust through the first fan and the second fan according to the position, orientation, or movement, thereby affecting at least one of the position, orientation, or movement of the suspended load.

9. The suspended load control system according to claim 1, wherein, The motor includes a magnet near the drive shaft, a winding away from the drive shaft, and wherein heat generated in the winding is transferred to the heat transfer structure and the thrust fluid surrounding the motor.

10. The suspension load control system according to claim 1, further comprising a brake, wherein, The brake is used to resist movement of at least one of the first fan or the second fan, wherein the selective power transmission mechanism is used to transmit torque from the motor to the first of the first fan or the second fan, and the brake is used to prevent movement of the second of the first fan or the second fan.

11. A method for influencing at least one of the position, orientation, or movement of a suspension load fixed by a suspension load control system suspended below a carrier, the method comprising: Selectively transmit torque from the motor to either the first unidirectional fan or the second unidirectional fan. By operating the motor in the first rotational direction, torque is transmitted from the motor to the first unidirectional fan via a drive shaft and a selective power transmission mechanism. The motor is operated in the second rotational direction to transmit torque from the motor to the second unidirectional fan via the drive shaft and the selective power transmission mechanism; The thrust fluid of the first unidirectional fan and the second unidirectional fan is drawn into the housing through the thrust fluid inlet, wherein the thrust fluid inlet is located at the middle position between the first fan and the second fan on the housing. The motor is located at the center of the housing in both the axial and radial directions; The motor includes a heat transfer structure, which includes one or more heat sink fins that are radially distributed around the motor. Furthermore, the first and second fans are used to draw thrust fluid into the housing through the thrust fluid inlet to cool the motor; The motor is a single motor, which drives the first fan and the second fan. The motor is powered by a battery pack.

12. The method according to claim 11, wherein, The selective power transmission mechanism includes a first flywheel assembly between the drive shaft and the first unidirectional fan and a second flywheel assembly between the drive shaft and the second unidirectional fan. It also includes operating the motor in the first rotational direction to engage the first flywheel assembly with the drive shaft, thereby transmitting torque from the motor to the first unidirectional fan, and operating the motor in the second rotational direction to engage the second flywheel assembly with the drive shaft, thereby transmitting torque from the motor to the second unidirectional fan.

13. The method of claim 11, further comprising controlling the motor using a computer processor, wherein, The computer processor obtains instructions from memory and uses the instructions and the computer processor to control the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan to influence the movement of the suspended load fixed to the suspended load control system.

14. A suspended load control device for selectively transmitting torque from a motor to a first unidirectional fan or a second unidirectional fan, comprising: A device for suspending a suspended load control device on a suspension cable below a carrier; A means for a suspension load control device to affect at least one of the position, orientation or movement of a suspension load suspended on the suspension load control device; The means for influencing at least one of the position, orientation, or movement of a suspension load suspended on the suspension load control device includes: Components for operating the motor in the first rotational direction to transmit torque from the motor to the first unidirectional fan via a drive shaft and a selective power transmission mechanism, and Components for operating the motor in the second rotational direction to transmit torque from the motor to the second unidirectional fan via the drive shaft and the selective power transmission mechanism; Also includes: The housing surrounds the motor, the first fan, the second fan, the drive shaft, and the selective power transmission mechanism, and the housing includes a thrust fluid inlet located at the axial center of the housing; The motor is located at the center of the housing in both the axial and radial directions. The motor includes a heat transfer structure, which includes one or more radiator fins. The radiator fins are radially distributed around the motor and are located in the flow path of the fluid drawn into the housing by the first fan and the second fan through the thrust fluid inlet. And a device for obtaining motor power from a battery pack; The motor is a single motor, which drives the first fan and the second fan.

15. The apparatus according to claim 14, wherein, The selective power transmission mechanism includes components for a first flywheel assembly between the drive shaft and the first unidirectional fan and a second flywheel assembly between the drive shaft and the second unidirectional fan, wherein the component for the first flywheel assembly includes a component that engages with the drive shaft when the motor operates in the first rotational direction to transmit torque from the motor to the first unidirectional fan, and the second flywheel assembly includes a component that engages with the drive shaft when the motor operates in the second rotational direction to transmit torque from the motor to the second unidirectional fan.

16. The apparatus of claim 14, further comprising a component for controlling the motor using a computer processor, wherein, The computer processor includes a component for retrieving instructions from memory, wherein the instructions include causing the computer processor to control the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan.

17. The apparatus of claim 14, further comprising a component that uses a brake to resist movement of at least one of the first fan or the second fan.

18. One or more computer-readable media, including instructions that, in response to execution of the instructions by a processor of a suspended load control system located below a carrier, cause the suspended load control system to: Selectively transmitting torque from the motor to either the first unidirectional fan or the second unidirectional fan; the selective transmission of torque from the motor to either the first unidirectional fan or the second unidirectional fan includes... The motor is operated in the first rotational direction to transmit torque from the motor to the first unidirectional fan via a drive shaft and a selective power transmission mechanism. The motor is operated in a second rotational direction to transmit torque from the motor to the second unidirectional fan via the drive shaft and the selective power transmission mechanism, thereby selectively transmitting torque from the motor between the first unidirectional fan and the second unidirectional fan; The thrust fluid from the first and second unidirectional fans is drawn into the casing through the thrust fluid inlet, wherein... The thrust fluid inlet is located in the middle position between the first and second fans on the casing; The motor is located at the center of the housing in both the axial and radial directions, and the motor includes a heat transfer structure, which includes one or more heat sink fins. The heat sink fins are arranged radially around the motor; The instructions also cause the suspended load control system to draw thrust fluid into the housing through the thrust fluid inlet via the first and second fans, thereby cooling the motor; and The motor is a single motor, which drives the first fan and the second fan. The instructions further enable the suspended load control system to draw power from the battery pack for the motor.

19. The computer-readable medium of claim 18, wherein, The selective power transmission mechanism includes a first flywheel assembly between the drive shaft and the first unidirectional fan and a second flywheel assembly between the drive shaft and the second unidirectional fan, wherein the command further causes the processor to engage the first flywheel assembly with the drive shaft by operating the motor in the first rotational direction to transmit torque from the motor to the first unidirectional fan, and to engage the second flywheel assembly with the drive shaft by operating the motor in the second rotational direction to transmit torque from the motor to the second unidirectional fan.

20. The computer-readable medium of claim 18, wherein, The instructions also cause the processor to control the motor using a computer processor, wherein the computer processor obtains instructions from memory and uses the instructions to control the motor to selectively output thrust through the first unidirectional fan and the second unidirectional fan.

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