Coupler for a suspended load control device, system and method

Abstract

Systems, devices, and methods for a suspended load control system are disclosed for use on or with a main load line, carrier hook, and / or main sheave of a crane.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is a non-provisional application of and claims the benefit of and incorporates herein by reference U.S. Provisional Patent Application 62 / 940,155, filed November 25, 2019, entitled “Suspended Load Control Crane Hook Apparatus, System, and Method.” TECHNICAL FIELD

[0003] The present disclosure relates to improved apparatuses, systems, and methods for controlling a load suspended by a hook below a carrier on a hoist cable and related thereto. BACKGROUND

[0004] People and / or equipment (“loads”) are transported using lifting systems as loads suspended by cables of a helicopter, crane, airplane, or other carrier to or from a location. Cranes, helicopters, and airplanes, including fixed-wing airplanes, can be collectively referred to herein as “carriers.” Carriers connected to the ground or another platform, such as a platform floating on water, such as a crane, can be referred to herein as “platform-based carriers.” Carriers other than platform-based carriers, such as helicopters, airplanes (fixed-wing or otherwise), and the like, can be referred to herein as “flying carriers.”

[0005] A hook or similar structure can be found on the bottom of a hoist cable; a load can be secured to the hook. The hook can transfer lifting forces between the carrier and the load. The hook includes or is part of an assembly that includes a sheave; the sheave can withstand impacts and protect the hook from contact with the environment.

[0006] During the operation of transporting a load by a carrier, the load can be affected by wind, interaction with the hoist cable, and other external and internal factors that can cause the load to move in an unstable, undesirable, or dangerous manner. To address such conditions, and to otherwise control a suspended load, an operator of a carrier can wish to use equipment that provides control of a suspended load, including equipment that provides control of a suspended load remotely from the carrier (e.g., at or near the load), such as using a remotely powered fan. Other systems have been developed that provide control of a suspended load below a platform-based carrier by changing the direction of a spinning gyroscope or flywheel, but these systems have different types of control systems, are capable of outputting torque but not horizontal thrust, and can not be suitable for use below a flying carrier due to weight.

[0007] During operation of a crane and sling, it is desirable to suspend the load directly on a hook rather than on a device to control the suspended load. This is because a hook is very strong, has few components, and has a single use. For example, as noted, a hook can transfer lifting forces between a carrier and a load; the lifting forces can be very large. In contrast, a device that provides control of a suspended load can include many components, such as a fan or the like, and can be more susceptible to damage and failure. An operator of a carrier can not want or be able to suspend the load directly from a device to provide control of the suspended load, but can prefer or can need to continue to suspend the load from a hook and / or a pulley.

[0008] Furthermore, during operation of a crane and sling, the halyard is typically a braided steel cable or the like. The halyard, whether braided or not, should not be subject to torque because this can cause the cable to wind, unwind, kink, weaken, break, not properly wrap onto a winch, or the like.

[0009] During operation of a crane and sling, observed motion of a suspended load includes the following components: vertical translation along the Y-axis (up and down motion) (referred to herein as "vertical translation"); horizontal translation along one or both of the X-axis and the Z-axis; and rotation about the Y-axis or "yaw." The horizontal translation can manifest as lateral motion, or when in the X-axis and Z-axis, as a conical pendulum motion of the load, with the pivot point of the pendulum being where the cable is fixed to the carrier ("pendulum motion"); the pendulum motion also typically includes a component of vertical translation. Rolling (rotation about the X-axis) and pitching (rotation about the Y-axis) can also occur, but if the load is suspended by a cable and has no buoyancy, the primary motions are vertical translation, horizontal translation, pendulum motion, and yaw. Vertical translation and horizontal translation can be caused by movement of the halyard, such as by movement of the carrier, movement of the load, a momentum difference between the load and the carrier, wind (including prop wash) impingement, paying out or taking in of the cable from the crane, and external forces. When discussed herein, the axes are relative to the normal axis of the suspended load, the normal axis of the carrier, or the normal axis of the gravitational field.

[0010] Yaw, lateral motion, and pendulum motion complicate crane operations, cause delays, and can result in death of crew members, crane operators, and ground personnel. Yaw, as well as lateral and pendulum motion, can also interfere with bringing a load into or delivering a load to a location. For example, if a load is undergoing pendulum motion or yaw, ground personnel can not be able to access the load, or a platform-based carrier operator can not be able to lower the load completely to a desired destination. For example, even if a deck or worksite is stable and not subject to heave, roll, or pitch, delivering a load to a ship deck or worksite can be made very complex by pendulum or yaw of the load.

[0011] As the load is pulled to the carrier, the sling shortens, and one or more undesired components of motion of the load can accelerate or become more pronounced. The horizontal and swing motion of the load can also interact with the carrier, creating dangerous reactions or sympathetic motion in the carrier.

[0012] Accordingly, there is a need to provide a device for controlling a suspended load, such as providing torque or horizontal forces to control yaw, lateral motion, and swing motion, where the device for controlling a suspended load can work with hooks and / or pulleys. BRIEF DESCRIPTION OF DRAWINGS

[0013] Figure 1 is a view of a carrier, carrier hook, and suspended load control system ("SLCS") according to an embodiment.

[0014] Figure 2 is a view of a carrier hook and SLCS according to an embodiment. Figure 1 is a partial view of a carrier hook and SLCS according to an embodiment.

[0015] Figure 3 is a partial view of a carrier hook and SLCS according to an embodiment. Figure 1

[0016] Figure 4 is a partial view of a carrier hook and SLCS according to an embodiment. Figure 1 is a partial view of a carrier hook and SLCS according to an embodiment.

[0017] Figure 5A is a detail view of a winch mount according to an embodiment.

[0018] Figure 5B is a detail view of a winch mount, winch, and a portion of a fan unit according to an embodiment.

[0019] Figure 6 is a detail view of a winch and control line according to an embodiment.

[0020] Figure 7A is a detail view of a winch and control line according to an embodiment.

[0021] Figure 7B is a detail view of a winch and control line according to an embodiment.

[0022] Figure 8 is a detail view of a winch and control line according to an embodiment.

[0023] Figure 9A is a detail view of a winch and control line according to an embodiment.

[0024] Figure 9B is a detail view of a winch and control line according to an embodiment. Figure 9A is a detail view of a fan unit with a vertical cross-section through a centerline according to an embodiment.​

[0025] Figure 10 is a vertical cross-sectional elevation view of a fan unit according to an embodiment. Figure 9A

[0026] Figure 11 is a top view of a carrier hook and SLCS according to an embodiment.

[0027] Figure 12 is a carrier hook, SLCS, and remote pendant according to an embodiment.

[0028] Figure 13A is a rear view of a remote pendant according to an embodiment.

[0029] Figure 13B is an oblique view of a remote pendant according to an embodiment.

[0030] Figure 13C is a front view of a remote pendant according to an embodiment.

[0031] Figure 14 Operation components of a suspended load control system including a remote pendant interface according to an embodiment are schematically illustrated.

[0032] Figure 15 Operation routines of a suspended load control system including multiple modes or command states according to an embodiment are illustrated.

[0033] Figure 16 Decision and control routines of a suspended load control system according to an embodiment are illustrated.

[0034] Figure 17A A plot illustrating a suspended load response to a suspended load control system control in the event of insufficient control line tension is illustrated.

[0035] Figure 17B A plot illustrating a suspended load response to a suspended load control system control in the event of sufficient control line tension is illustrated. DETAILED DESCRIPTION

[0036] Reference will now be made in detail to descriptions of embodiments shown in the drawings. While embodiments are described in connection with the drawings and related descriptions, no limitation on the scope of embodiments is intended to be present in the description. Rather, the intent is to cover all alternatives, modifications, and equivalents. In alternative embodiments, additional or fewer devices or combinations of devices shown can be added or combined without departing from the scope of embodiments disclosed herein. For example, embodiments set forth below are primarily described in the context of helicopter hoist load, search and rescue operations, and / or crane operations. However, these embodiments are illustrative examples and in no way limit the disclosed technology to any particular application or platform.​

[0037] The phrases “in one embodiment,” “in various embodiments,” “in some embodiments,” and the like are used repeatedly. Such phrases do not necessarily refer to the same embodiment. The terms “comprising,” “having,” and “including” are synonymous, unless the context dictates otherwise. As used in this specification and the appended claims, the singular forms “a,” “an” and “the” include plural referents unless the content clearly dictates otherwise. It should also be noted that the term “or” is generally employed in its sense including “and / or,” unless the content clearly dictates otherwise. When elements in a figure are referenced using ordinal numerals such as “first,” “second,” and “third,” the order is generally unimportant and the elements so designated are commonly similar unless otherwise stated. When elements in a figure are labeled using a number containing a letter, instances of that element are generally similar and can be collectively referenced without the letter.

[0038] Platform-based carrier operators can move the payload at low speed, minimizing the swing motion, or can use dedicated control cables (whether on the ground, on adjacent structures, or in and out of the carrier). However, these measures add cost, complexity, and risk of failure of the suspended payload operation. These measures are not suitable and are problematic.

[0039] In various embodiments, as described further herein, a suspended payload control system addresses the control problem of the payload independently of the carrier. The suspended payload control system or suspended payload stabilization system (collectively “SLCS”) of the present disclosure controls the payload by exerting or outputting forces or force vectors of thrusters, fans, propellers, flywheels, gyroscopes, etc. at or near the location of the payload. Thrusters, fans, propellers, and electro-ducted fans can be referred to herein as “EDFs” or “fans.” The vector thrust generated by the fans and / or winches can be used to counteract yaw and swing motion. The vector thrust generated by the fans can be used to translate the payload horizontally, for example, to avoid obstacles or to move the payload to an offset position relative to the normal minimum energy suspension position. The vector thrust generated by the fans and / or winches can be used to control the precise position and rotation of the payload independently of the carrier. The vector thrust generated by the fans can be used to increase the operating speed of the carrier while maintaining safe operating parameters.

[0040] The SLCS of the present disclosure can also be mounted on a hook and / or a pulley. The SLCS can be mounted on the hook and / or the pulley through a rotational coupling, where the rotational coupling comprises one or more bearings. The rotational coupling allows the SLCS to rotate without imparting significant torque on the main load bearing line.

[0041] The SLCS of the present disclosure can also include one or more winches; the winches can be secured to the payload with one or more winch control lines. The control module of the SLCS can control the winches to maintain tension in the winch control lines; the control module can also control the thrusters of the SLCS to control the payload.

[0042] Accordingly, the SLCS as disclosed herein works with or in conjunction with existing hooks and / or pulleys, enhancing safety, improving performance of carrier and payload operations, allowing carrier operators to increase work output and reduce damage to payloads and surrounding objects, as the SLCS can dynamically control the precise position and rotation of the payload. The SLCS can bring benefits to, for example, platform-based carrier operations and flying carrier operations.

[0043] Once deployed and in use, the SLCS is independent of the platform that is suspending the payload (e.g., the characteristics of the crane or helicopter “native” to the platform, etc.), as it independently determines the state, control lines between the winch and the payload, and / or as it independently applies thrust, stabilizes the payload, or directs the payload to a desired direction without applying significant torque to the main load line. This allows the system to be widely adopted regardless of the type of carrier, thereby reducing cost and solution risk.

[0044] Figure 1 An embodiment of a suspended payload control carrier hook system and a payload 100 is shown, in which a platform-based carrier 124 supports and / or repositions a payload 130 via a main load line 125 and load attachment lines 115A-115E. The platform-based carrier 124 is shown by way of example, and a flying carrier can also or instead be used.

[0045] Reference is made to Figures 1-4 The carrier 124 can support the payload 130 via a winch, hoist, etc. of the carrier 124, a hoist cable (also referred to herein as “main load line 125”), a main pulley 145 fixed to the main load line 125, a main pulley hook 150, and one or more load attachment lines 115 that fix the payload 130 to the main pulley hook 150. In Figure 1 In the example shown, the load attachment line 115A can branch into multiple attachment lines 115B-115E (collectively referred to as attachment lines 115 with the load attachment line 115). The attachment lines 115 can be fixed to the main pulley hook 150 via one or more load rotation couplings 122A, 122B, or 122C (see Figure 2 ), which allow the payload 130 to rotate, spin, or yaw without winding or unwinding the main load line 125. The load rotation couplings 122 can include, for example, a thrust bearing or another bearing set or system. In Figure 1In the embodiment shown in the middle, the SLCS 105 includes four control lines 110A-110D (collectively, control lines 110). A different number of control lines can be used, such as one, two, three, or more than four. The main load line 125 is typically a cable, including a braided cable. It is not desirable for the main load line 125 to rotate about the Y-axis. For example, braided cables can become loose or create excessive wrap kinks when rotated, either of which can cause problems of work delays, damage, and severe malfunction of equipment, including the main load line, the hoist, etc. To address this problem, load rotation couplings 122A, 122B, and / or 122C are located between the load 130 and at least one of the hook 150 and / or the main sheave 145; however, the load rotation couplings also allow the load 130 to rotate in an uncontrolled manner, which, as noted, is not desirable.

[0046] The SLCS 105 can be fixed to the main sheave 145, which can allow the SLCS 105 to be used with a variety of existing crane equipment. However, if the SLCS 105 exerts a force on the load 130, then, according to the above explanation, the SLCS 105 should not exert a rotational force or torque on the main load line. To address this problem, the SLCS 105 is fixed to the main sheave 145 at, through, or in conjunction with the control system rotation coupling 120 (see Figure 2 ). The control system rotation coupling 120 can be, for example, a set of thrust bearings, a set of tapered roller thrust bearings, a set of spherical roller thrust bearings, etc. The control system rotation coupling 120 can not bear or transfer the main lifting force between the carrier 124 and the load 130; the control system rotation coupling 120 can only bear the weight of the SLCS 105 and the tension of the control lines 110.

[0047] As noted above, the SLCS 105 is fixed to the load 130 by one or more control lines 110, where the control lines 110 are attached to the winch 195 Figure 4 , Figure 5A , Figure 5B and Figure 6The middle marker) is secured to the load 130. The winch 195 can be used by the SLCS 105 to perform at least one of: i) detect slack in the control line 110 and / or ii) generate and / or maintain tension in the control line 110. The SLCS 105 can generate and / or maintain tension in the control line 110 to transfer force (such as torque, etc.) from the SLCS 105 and one or more fan units 155 of the SLCS 105 to the load 130. Without tension in the control line 110, the ability of the SLCS 105 to react to and control movement of the load 130 can be severely impaired and / or can be delayed. Delays in reaction time between the SLCS 105 and the load 130 can severely interfere with the ability of the SCLS 105 to transfer force to the load 130. Thus, maintaining tension in the control line 110 can impact the ability of the SLCS 105 to control the load 130, the power usage of the SLCS 105, the battery life of the SLCS 105, and mission objectives.

[0048] To generate force to be transferred to the load 130, the SLCS 105 can utilize thrust from, for example, the fan units 155. The fan units 155 can be opposite each other on two or more sides of the SLCS 105. As shown in these examples, each fan unit 155 includes two EDFs that are generally opposite each other. The thrust of the EDFs in the fan units 155, along with the tension of the winch 195 and the control line 110, can be used to Figure 14 the operational components of the SLCS 105 described, Figure 15 the operational routines of the SLCS 105 described, and Figure 16 the decision and control routines of the SLCS 105 described, to control or affect the load 130. The SLCS 105 can replace the fan units 155, which include one or more flywheels; acceleration of the flywheels and / or changes in direction of the rotating flywheels can exert torque on the SLCS 105, which can be transferred to the load 130 through the winch 195 and the control line 110.

[0049] Figure 2 a partial exploded embodiment of the carrier hook and the SLCS 105 according to an embodiment is shown. Figure 1 In addition to the elements noted and described, Figure 1 the main pulley 145, the main pulley hook 150, the control system rotational coupling 120, the fan unit 155A and the fan unit 155B, the control line-load securement 140, and the load-bearing connection line-load securement 135 are noted. Figure 4 Detailed views of certain ones of these components are also provided.

[0050] Figure 3 a partial exploded embodiment of the carrier hook and the SLCS 105 according to an embodiment is shown. Figure 1The carrier hook and a partial implementation of SLCS 105. In Figure 3 The elements shown and labeled include: one or more control lines 110A-110D extending downward to load 130 (different numbers of control lines may be used in embodiments); a carrier connection line 115 (different numbers of carrier connection lines may be used in embodiments); a main pulley hook 150; a main pulley 145 (which, in combination with the main pulley hook 150, may also be referred to as a "carrier hook"); a control system rotary connector 120; fan units 155A and 155B; a fan electronic equipment conduit 170; electronic equipment boxes 165A and 165B; a main power conduit 180; a main power feeder conduit 175; and a main carrier line 125. Electronic equipment boxes 165A and 165B contain... Figures 14-16 The electronic devices, computers, algorithms or modules, and other operating components are described. A main power conduit 180 may extend to the carrier 124 and supply power, such as electrical power, from a power source in the carrier 124 to the SLCS 105. Alternatively or additionally, the SLCS 105 may include a battery pack to supply some or all of the power to the SLCS 105. In addition to providing power, the main power conduit 180 or another conduit transmits control and / or sensor signals between the SLCS 105 and other sources or destinations of control and / or sensor signals. As described above, a main carrier line 125 may extend to the carrier 124, such as an elevator extending to the carrier 124.

[0051] Figure 4 It shows Figure 1 Exploded details of the carrier hook and partial implementation of SLCS 105. Components shown and labeled include: Control system rotary connector 120. Control system rotary connector 120 carries fan unit 155, electronics housing 165, winch supports 190A and 190B, and winches 195A-195D. Winch supports 190A and 190B secure winches 195A-195D to fan units 155A and 155B and hold electronics housing 165 (which may be located in different positions, such as on fan unit 155). Control system rotary connector 120 allows SLCS to rotate separately from main pulley 145 without applying significant torque to main pulley 145 or main carrier line 125. For example, only friction in control system rotary connector 120 transmits torque from SLCS 105 to main pulley 145, where this friction-based torque transmission is relatively negligible and less than the ability of main carrier line 125 to absorb and resist torque. The control system rotary connector-main pulley fixing member 200 is one or more fixing structures, such as bolts, used to fix the control system rotary connector 120 to the main pulley 145.

[0052] Figure 5AAn embodiment of a winch mount 190 is shown that can secure a winch 195 to a fan unit 155, through a fan unit mount 185 to a control system rotary coupling 120, and thus to a main pulley 145. The winch 195 can be secured to the control system rotary coupling 120 through other structures, such as to the fan unit mount 185 and / or another dedicated structure.

[0053] Figure 5B An embodiment of a winch mount 190 and winch 195 is shown. In conjunction with the operational components and modules of the levitated load control system described above, Figures 14-16 The winch 195 or data from the winch 195 can be used to sense the amount of strain or tension in one or more control lines 110, in conjunction with the operational components and modules of the levitated load control system described above. Figures 14-16 The winch 195 can be used to tension one or more control lines 110, in conjunction with the operational components and modules of the levitated load control system described above. A sensed lack of tension or tension in the control lines 110 can indicate and / or be caused by a desired or undesired movement of the load 130. Tension can be applied to the control lines 110 by the winch 195, and thus to the load 130; such force can be transferred between the winch 195 and, for example, the fan unit 155 (such as when operating one or more fan units 155 to provide the force), and / or to the main pulley 145, which can cause the center of gravity of the load 130 to be biased in a direction relative to the main pulley 145 and the main load bearing line 125.

[0054] Figure 6 An embodiment of a winch mount 190, winch 195, and control lines 110 extending from the winch 195 is shown. More than one control line 110 or control line feed can extend from the winch 195. The winch mount 190 can position the winch 195 distally from the central vertical axis (or Y-axis) of the main load bearing line 125. As described above, the winch mount 190 and winch 195 can be symmetrical about the central vertical axis (or Y-axis) of the main load bearing line 125. In embodiments, more or fewer numbers of winches 195 and / or winch mounts 190 can be used. The winch 195 can include one or more tension sensors to sense the tension on the winch 195 from the control lines 110. The tension sensors can include, for example, a position encoder, a torque sensor, a strain gauge, a spring support for the control lines 110, and an instrument guide, among others. The winch 195 can also include or incorporate sensors into the tension sensors to detect and report the number of control lines 110 that have been taken out of or put into the winch 195.

[0055] Figure 7AAn embodiment of a fan unit bracket 185 is shown that can secure the fan unit 155 to the control system rotary coupling 120, for example, by bolts, welding, straps, etc. In embodiments, other components can be between the fan unit 155 and the control system rotary coupling 120.

[0056] Figure 7B An embodiment of the control system rotary coupling 120 secured to the fan unit bracket 185, the fan unit 155, and the electronics enclosure 165 is shown.

[0057] Figure 8 An embodiment of the electronics enclosure 165 secured to the fan unit bracket 185 is shown. In this embodiment, the electronics enclosure 165 includes a control system antenna 205. The control system antenna 205 allows for wireless communication, such as with remote hanger 235 and / or with components in the carrier 124, and / or with wireless sensors, such as sensor input or sensor output with respect to GPS sensors, lidar sensors, radar sensors, sonar sensors, image (visible, infrared, etc. camera) sensors, sound (microphone) sensors, inertial sensors, gyroscopic sensors, etc.

[0058] In one embodiment, the electronics enclosure 165 can include, for example, a power system, a power regulator, a relay, a buffer, etc., to provide regulated power to the fan unit. In one embodiment, the electronics enclosure 165 includes a battery. In one embodiment, the electronics enclosure 165 includes, for example, an electronic speed controller, a motor driver, etc., to control the electrical power to the fan unit.

[0059] In embodiments, the electronics enclosure 165 can include, for example Figures 14-16 Operation components (e.g., computer processors and memory), operation routines, and decision and control routines of the levitation load control system are shown.

[0060] FIG. 9 illustrates an embodiment of a fan unit 155, where the fan unit 155 includes a fan unit outlet cover 210, which can prevent debris from entering the fan unit 155, and allow air or another thrust fluid to exit the fan unit 155, a fan inlet 220, which can prevent debris from entering the fan unit 155, and allow air or another thrust fluid to enter the fan unit 155, and a fan 215A and a fan 215B. The fan 215A and the fan 215B can be ducted fans. The fan 215A and the fan 215B can be driven by one or more electric motors, drawing power from a battery pack (such as the battery pack in the electronics box 165) and / or from the carrier 124, and provided to the fan 215A and / or the fan 215B by the electronics box 165 through a fan electronics conduit 170, possibly in combination with and / or possibly in conjunction with the generation of control signals, such as electromagnetic frequencies (EMFs) and / or encoder feedback from the electric motors in the fans 215.

[0061] Figure 10 An embodiment of a fan unit 155 is illustrated, including a fan inlet 220, a fan 215A, and a fan 215B. The fans 215A and 215B are oriented opposite each other at 180 degrees, such that each fan produces an opposite thrust. The fans 215A and 215B can not be oriented opposite each other at 180 degrees.

[0062] The fan unit 155 can include a shroud that protects the one or more fans. The shroud can be hardened to withstand impacts from the environment. The shroud unit can be made of metal, plastic, composite materials (including fiber-reinforced resins), and the like. The fans in the fan unit 155 can include blades and electric motors, such as electric motors and the like. The electric motors within the fans can be sealed against dirt, sand, water, debris.

[0063] The fans in each fan unit push thrust fluid (such as air) in a fixed direction (such as a fixed direction opposite each other), for example, offset by 180 degrees. In other embodiments, fewer or greater numbers of fan units and / or fans can be used. In other embodiments, the fan units and / or fans can be aligned differently than illustrated, for example, offset by greater or less than 180 degrees, offset along other axes, or not offset. A mechanical steering assembly (not shown) can be included to dynamically reposition the fan units and / or the fans within the fan units.

[0064] The fans in each fan unit 155 can be individually activated at different power levels, producing thrust vectoring or thrust vector control of the fan assembly, such as the SLCS 105. For example, to produce a clockwise yaw (relative to the direction of travel of the carrier 124), the fan 215A can be activated at a higher power level than the fan 215B. To produce a counterclockwise yaw, the fan 215B can be activated at a higher power level than the fan 215A. Figure 11The fans in the fan unit 155B can self-start or combine with the opposing fans on the opposite side of the fan unit 155A to create torque. To create a lateral translation force on the SLCS 105 and the load 130, the fans on the same side of the fan units 155A and 155B can be started. Lateral translation and rotation can be created simultaneously.

[0065] Figure 11 An embodiment of the SLCS 105 is shown in which the thrust vectors 230A-230D can be created by the fan units 155A and 155B. The thrust vectors 230A-230D can be controlled by, for example, Figures 14-16 The operational components of the suspended load control system in the SLCS 105 can be controlled to create, for example, a rotational force 225 (e.g., a yaw force or torque) or a translational force (e.g., a force along one or both of the X and Z axes) that can be communicated between the SLCS 105 and the load 130 through one or more control lines 110. The lifting and translational forces of the carrier 124 can be communicated to the load through one or more load bearing connection lines 115.

[0066] Figure 12 An embodiment of the SLCS and load 100 in wireless communication with a remote pendant 235 is shown. The remote pendant 235 can provide and / or communicate control signals and / or sensor information between the SLCS 105, the remote pendant 235, a user, or other sources or destinations, such as systems in the carrier. The other sources or destinations can be in wireless or wired communication with one or both of the SLCS 105 and the remote pendant 235.

[0067] Figure 13A An embodiment of the remote pendant 235 including, for example, a start controller 240 is shown. Figure 13B Another view of an embodiment of the remote pendant 235 is shown. Figure 13C Another view of an embodiment of the remote pendant 235 including, for example, an on / off switch 245, a status selector 250, and a manual / rotation control 251 is shown. The on / off switch 245 can be used to turn the remote pendant 235 on. The status selector 250 can be used to select a command state of the SLCS 105, such as Figure 15 The start controller 240 can be used to start or deactivate the SLCS 105 in or relative to the selected command state. The manual / rotation control 251 can be used to manually start the fans to rotate or translate the load 130.

[0068] Figure 14Operational components of a suspended load control system ("SLCS") 1400 including a suspended load control system logic assembly 1401 and a remote interface logic assembly 1450 are shown schematically in accordance with one embodiment. Within the suspended load control system logic assembly 1401, a sensor suite 1405 can include a position sensor 1406, an orientation sensor 1407, an inertial sensor 1408, a proximity sensor 1409, a reference position sensor 1410, a thrust sensor 1411 (which uses in connection with a fan), a winch sensor 1412 (which uses in connection with a winch in the SLCS, such as to sense tension on the winch and / or length of winch control line paid out or wound on the winch), and a camera. Some or portions of the sensors 1405 or components of the sensors 1405 are physically located outside of the electronics enclosure 165, such as at a location where a sensing condition occurs.

[0069] The SLCS processing capability or processor 1420 includes, for example, a computer processor and / or microcontroller. The SLCS memory 1425 typically includes random access memory ("RAM") and a permanent non-transitory mass storage device, such as a solid state drive, and contains, for example, a navigation system 1426, target data 1427, mode or command state information 1428, and software or firmware code, instructions or logic for one or more operational modules 1500 and suspended load control decision and thrust control modules 1600. The communication system 1430 includes a wireless system 1431, such as a wireless transceiver, and a wired system 1432. The SLCS outputs 1415 include thrust control 1416 and tension control 1417 through, for example, power controllers and / or ESCs. A power management system 1440 regulates, distributes power from, for example, a battery or from a crane or other carrier. A data bus couples the various internal systems and logic assemblies of the load control system logic assembly 1401.

[0070] The interactive display, interactive controls, remote pendant, location unit or target node, all of which can also be referred to herein as "remote interface," can be a computing unit including one or more remote interface logic assemblies 1450; such unit can be self-powered or hardwired to another device, such as the airframe, carrier, remote pendant (embodiments of which are shown in Figures 13A-13C The remote interface logic assembly 1450 can receive data from and / or send data to the SLCS, for example, through a wireless or wired conduit and communication system. Data from the SLCS can be displayed or communicated on or through the display 1461 of the remote interface logic assembly 1450; the data is parsed and converted into audible, tactile or visual cues. The remote interface logic assembly 1450 can also communicate command states and operational instructions required by the operator to the SLCS, as described below.

[0071] The remote interface logic component 1450 can communicate with the load control system logic component 1401 through a communication system 1470, which can be wireless 1471 or wired 1472. The output 1460 of the remote interface logic component 1450 can include information displayed on a screen or display 1461, as well as audible cues or access to remote audio (such as audio detected by sensors in the load, etc.) through an audio output 1462. The output 1460 can also output haptic cues. The input 1465 to the remote interface logic component 1450 for controlling the SLCS can include commands through a touchscreen 1466 or joystick 1467 (including, for example, reference Figures 13A-13C The manual / rotary control 251 can, in embodiments, activate blowers on opposite sides of the SLCS to generate, for example, rotational forces or torques on the load 130. In embodiments, other controls can be provided to activate blowers on, for example, the same side of the SLCS to generate, for example, translational forces on the load 130. In embodiments, other controls can be provided to activate, for example, one or more winches to tighten control lines. In embodiments, the remote interface logic component 1450 can include one or more physical and / or logical devices that collectively provide the functionality described herein.

[0072] Aspects of the system can be embodied in a special or specific-purpose computing device or data processor specially programmed, configured, or constructed to perform one or more of the computer-executable instructions explained in detail herein in connection with suitable memory. Aspects of the system can also be implemented in a distributed computing environment, where tasks or modules are performed by remote processing devices and memories that are linked through a communication network, such as a local area network (LAN), wide area network (WAN), or the Internet. In a distributed computing environment, modules are located in both local and remote memory storage devices. As Figure 14 As shown schematically, the load control system logic component 1401 and the remote interface logic component 1450 can be coupled through a wired or wireless network.

[0073] According to one embodiment, the load control system logic component 1401 can work with a remote location unit, remote interface, or target node that includes one or more remote interface logic components 1450. The remote location unit, remote interface, or target node can include an internal or external sensor suite, such as sensors 1468, configured to communicate (such as wirelessly) as a location reference with the load control system logic component 1401. The sensors 1468 are similar to the sensors 1405 or a subset of the sensors 1405. If the sensors 1405 are considered a primary sensor suite, a secondary sensor suite location can be at the platform, crane, aircraft, or other carrier of the main load bearing line 125, and a tertiary sensor suite location can be a relevant location of the load (e.g., for positioning to obtain or deliver the load). The remote interface logic components 1450 can also include a processor 1469 and a memory 1473, which are similar to the processor 1420 and the memory 1425. The memory 1473 can include software or firmware code, instructions, or logic for one or more modules for use by the remote location unit, remote interface, target node, or remote interface (such as a remote interface module 1474). For example, the remote interface module 1474 can provide control and interface (e.g., input / output) for the remote location unit, remote interface, target node, or remote interface to allow it to be turned on / off, paired with the SLCS, input instructions, etc.

[0074] The remote location unit or remote interface can include a transceiver configured to communicate with the load control system logic component 1401 through a wireless transceiver and provide a location reference. For example, the remote location unit or remote interface can be affixed to a helicopter native, crane, or other carrier 124 that the load can be suspended below. The remote location unit, remote interface, or target node can be affixed to, for example, a helicopter, crane, or carrier through a magnet, bolt, or any other affixing mechanism. The remote location unit, remote interface, or target node can be placed or dropped at a location on the ground or affixed to, for example, a life preserver or other flotation device, a rescuer, a location of a load to be picked up, a location of a load to be delivered, or a location of a particular operation.

[0075] In some embodiments, the remote location unit, remote interface, or target node can be made of a durable polymer or plastic, sized to fit in a hand. The remote location unit, remote interface, or target node can have an external antenna.

[0076] Aspects of the load control system logic component 1401 and / or the remote interface logic component 1450 can be embodied in a special- or general-purpose computing device or data processor programmed, configured or constructed to perform one or more of the computer-executable instructions explained in detail herein. Aspects of the load control system logic component 1401 and / or the remote interface logic component 1450 can also be implemented in distributed computing environments where tasks or modules are performed by remote processing devices that are linked through a communications network, such as a Local Area Network (LAN), a Wide Area Network (WAN), or the Internet. In a distributed computing environment, program modules can be located in both local and remote memory storage devices. As Figure 14 As shown illustratively, the load control system logic component 1401 and the remote interface logic component 1450 can be coupled through a wired or wireless network.

[0077] Figure 15 An example of an operational module 1500 of a levitating load control system ("SLCS") including a plurality of mode or command state modules is shown, according to an embodiment. Instructions of and embodying the decision and operational module 1500 can be stored in, for example, the memory 1425, and can be implemented or executed by, for example, the processor 1420, as well as circuitry, firmware, and other computer and logic hardware of the SLCS with which the operational module 1500 interacts. In an embodiment, the computer processor and memory used to execute some or all of the operational module 1500 can be remote from the SLCS, such as in an auxiliary computer in, for example, a carrier.

[0078] In block 1505, a levitating load control system device can be installed on a load and / or a cable suspending the load. The levitating load control system device can be installed without being powered on.

[0079] In block 1510, a suspended load control system ("SLCS") in the device can be initiated and the operation module 1500 is initiated. In some embodiments, the operation module 1500 can be initialized by pressing a button on the SLCS, such as on the electronics box 165 and / or the remote pendant 235. In the vicinity of the external button that initializes the operation module 1500, there can be another button that allows for immediate shutdown when pressed. In addition to the initialization interface on the central or control module, the operation module 1500 can also be initialized by an operator not directly proximate to the system. One or more external operators, including but not limited to the operator of a crane or another carrier, a rescue person at the end of the cable, etc., can initialize the operation module 1500 by pressing a button on one or more remote interfaces that are wirelessly linked to the operation module 1500. One or more modules of the complete SLCS, such as physically separate control units, fan units, etc., can be initiated in block 1510 and can be paired to function together. During block 1510, the operation module 1500 can determine the relative orientation of the fan units or winches that the operation module 1500 is to control. This determination is based on sensor information of the fan units or winches, such as compass directions sampled from or associated with each fan unit or winch. This determination is performed to account for fan units or winches that are not available and / or do not have a fixed physical relationship, such as can be the case when components of the modular SLCS are deployed on an irregular load, such as a rope or webbing enclosed load, where the fan units or winches can not be parallel or have a predetermined fixed physical arrangement. For fan and winch mapping, this determination can be used in block 1635 of Figure 16 The determination can result in an error condition if the fan units or winches are not within an acceptable range of directions or are not available. The determination can not be necessary if the SLCS is in a rigid frame and the fan units or winches can be parallel to each other.

[0080] In block 1515, the operation module 1500 can be initiated. In block 1515, the operation module 1500 can tension one or more winch control lines, for example, by initiating a winch. The operation module 1500 can sense the tension of the one or more winch control lines and / or the length of the one or more control lines, such as with winch 1412 sensors. The operation module 1500 can output information about the tension and / or length of the control lines to, for example, a remote interface logic component. The operation module 1500 can determine error conditions that have occurred, such as insufficient or excessive winch tension, insufficient or excessive winch control line payout to or from a winch, etc. Error conditions can be reported to an operator (e.g., to a remote interface); error conditions can be overridden by an operator’s command (such as from a remote interface); error conditions can cause the operation module 1500 to continue until the error condition is resolved. Error conditions can be resolved by an operator re-securing the winch control lines and re-initializing or continuing the initialization of the operation module 1500.

[0081] If no error conditions, etc., occur in block 1515, in block 1520, the functional mode or command state of the operation module 1500 can be invoked, for example, by an operator or another process’s input. Maintaining winch control line tension and no error conditions are conditions for continuing to execute block 1520. In block 1520, the operation module 1500 executes or invokes the hover load control decision and thrust control module 1600 as a subroutine or sub-module, thereby implementing the functional mode or command state. Functional modes or command states of the system can be:

[0082] Idle mode 1521: The internal systems of the SLCS are running (e.g., the operation module 1500 observes the motion of the SLCS and load and calculates corrective actions), but the thrusters are off or only maintaining an idle speed, with no action affecting the load motion.

[0083] Maintain relative position to native, crane, or load mode 1522: Stabilize the SLCS relative to a suspension origin. For example, when the load suspended by the SLCS is below the drop point of a trolley cable below a crane, the SLCS will directly maintain below the drop point of the trolley cable. The maintain relative position to native mode 1522 positions the native motion (including the motion of the drop point) and performs the necessary corrective actions to largely suppress any other hover load motion. If the native or drop point is traveling at low speed, the maintain relative position to native mode 1522 will couple the velocities or cable tensions so that the two entities move in sync. When the load is disturbed, the maintain relative position to native mode 1522 provides thrust and / or winch control line tension in the direction opposite the disturbance to counteract the disturbance, eliminating sway.

[0084] Move / Stop-to-position mode 1523: Stabilize the SLCS in a fixed position, counteracting small movements of the weather or crane, carrier or other suspended platform. This mode has the effect of terminating all motion. The operator can send the desired target position to the SLCS through the remote interface. This can be achieved in at least three ways:

[0085] Target node position 1524: The operator can place a reference position sensor 1468 (e.g. a position unit or target node) at the desired lowered position. The reference position sensor 1468 can communicate wirelessly with the target node position 1524 module to indicate the desired position, which the target node position 1524 module responds to by moving the SLCS to the desired position while adjusting winch tension to assist the movement. The remote interface display 1461 can receive and display position information of both entities.

[0086] User specified position / direction 1525: The operator can use the remote interface display 1461 to send a specified position (e.g. latitude and longitude coordinates) or direction as a command to the user specified position / direction 1525 module. The system then steadily guides the suspended load to the desired position or desired direction. The system will simultaneously send feedback to the remote interface logic component 1450 regarding position, distance and direction information.

[0087] Hold position or direction mode 1526: Counteracts all motion of the SLCS and holds the current position and / or direction, regardless of native motion or external forces. This module has the effect of terminating all motion. This module responds conditionally to native velocity, safety factor and physical constraints, respectively.

[0088] Direct control mode 1527: Control sticks or similar operation of the SLCS in three degrees of freedom. The operator is able to, for example, use the hand / rotary controls 251 or another control, etc., to directly control positioning, rotation, thruster output level or winch tension. Although the operation module 1500 is fully closed loop and does not require external control during operation, there is an option for user control. The operator is able to provide input to the direct control mode 1527 module to directly control positioning, rotation, thruster output level and winch tension.

[0089] Obstacle avoidance module 1529: Receives and processes sensor information in order to i) balance the distance between sensor locations, such as at the fan units, and objects, such as obstacles, sensed in the environment, or ii) measure or receive the geometry of the load, measure the geometry of obstacles sensed in the environment, determine or receive the position, orientation and motion of the load, and coordinate the load relative to the obstacles, for example by activating the fans and / or winches.

[0090] In block 1530, the operator completes the operation and retrieves the SLCS.

[0091] In block 1535, the operation module 1500 can be turned off by pressing a button on the interactive control, or the like, by pressing a button on the SLCS device, or the like. If the SLCS device includes a foldable frame, a propulsion arm, a fan unit, or a winch, the winch control line can be wound in, coiled, or unwound, the arm or frame assembly can be folded, telescoped, or the like. If the SLCS device includes removable modules, such as for the fan unit, winch, housing, power housing, or the like, the modules can be removed, disassembled. The load can be disassembled from the load hook, or the like, the hoist cable can be disassembled from the hoist ring on the top of the load and / or the SLC. The SLCS can then be loaded in a suitable location. When loaded, the SLCS can be electrically coupled to a charger or another power source.

[0092] Figure 16 A decision and thrust control module 1600 of a suspended load control system (“SLCS”) is shown, according to an embodiment. Instructions of the decision and thrust control module 1600, or embodying the instructions of the decision and thrust control module 1600, can be stored in, for example, the memory 1425, and can be implemented or executed by, for example, the processor 1420, as well as the circuitry, firmware, and other computer and logic hardware of the SLCS with which the decision and thrust control module 1600 interacts. In embodiments, the computer processor and memory used to execute some or all of the decision and thrust control module 1600 can be remote from the SLCS, such as in a secondary computer, for example, a carrier, a remote interface, or the like.

[0093] The decision and thrust control module 1600 can operate in a closed loop, with knowledge of its position and motion in near real-time, determining the most desired system response, and sending the desired response to the air propulsion system thruster array and / or winch, thereby damping the swing of the cable or otherwise controlling the load during operation.

[0094] At block 1605, the decision and thrust control module 1600 can obtain data from sensors, for example, the sensors 1405, such as accelerometers, gyroscopes, magnetometers, GPS, lidar / radar, range finders, winch sensors 1412, and / or machine vision input including machine vision processing of images of the winch control line taken by a camera included in the SLCS.

[0095] In block 1610, the decision and thrust control module 1600 combines the data of the sensors to obtain a data fusion that describes the position, orientation, motion, and environment of the SLCS device.

[0096] Sensor data is fused and filtered by the SLCS through a non-linear flavor of Kalman filter to produce an accurate representation of the system state. Closed loop control methods include fuzzy tuned proportional, integral, and derivative feedback controllers that can be in bi-directional communication with advanced control methods including deep learning neural networks and future propagating Kalman filters, allowing for further real-time system identification.

[0097] In block 1615, the decision and thrust control module 1600 performs state estimation with a non-linear state estimator to predict near-future motion based on data fusion and feedback to the state estimator from the decision and control engine. The state estimation and near-future motion can include rates or rates of change of rotation, mass, center of mass, moments of inertia, etc.; one or more such data or changes in such data can be consistent with an incorrect tension in one or more winch control lines.

[0098] In block 1617, the decision and thrust control module 1600 receives a functional mode selection, e.g., from user input.

[0099] In block 1620, the decision and thrust control module 1600 takes the state estimation 1615 informed by the user-selected functional mode or command state 1617, and other feedback from the thrust and direction to winch mapping 1625 and output control 1640, and determines the required SLCS motion direction, rotation, center of mass, or response rate.

[0100] The algorithm output is sent to a motion or power controller, such as an ESC or the like, which sends the required thrust response to the EDF and winch as winch control through phase control of, e.g., a pulse-modulated power signal. The net thrust output and winch control is mapped in real-time through encoders and load sensors, then sent back to the decision and control block 1620, which then performs closed loop control.

[0101] In block 1630, the decision and thrust control module 1600 maps the required direction with the thrust vector of the EDF to generate a thrust and direction mapping, and maps the required direction with the winch tension mapping to generate a winch tension mapping, to achieve the determined thrust, winch tension, and direction of the SLCS device.

[0102] In block 1635, the decision and thrust control module 1600 maps the thrust and direction mapping to the fan and fan thrust vector and the winch tension vector, and generates a fan and winch mapping to control the EDF and winch to achieve the required thrust and direction of the SLCS.

[0103] In block 1640, the decision and thrust control module 1600 applies the fan and winch mapping to output power control signals to move or exert force as decided, and determines to activate the fan and / or winch to achieve the determined thrust and direction of the SLCS.

[0104] In box 1640, the SLCS thruster applies a command control output to achieve a dynamic response in the form of thrust and winch control, which can counteract unwanted motion and / or drive the SLCS and load in the desired manner.

[0105] If an interruption occurs, such as if an incorrect winch tension error is detected or other issues arise, the decision and thrust control module 1600 can terminate or return to the module that may have called it.

[0106] Apart from the function control modes selected by the advanced operator and / or user input via the function control modes, the decision and thrust control module 1600 is unmanned and automated. The net output is the control force used to move, stabilize, or control the suspended load.

[0107] Apart from the advanced operator-selected function control modes and / or user input, the entire process is unmanned and automated. Net output is the control force used to stabilize or control the suspended load.

[0108] Figure 17A The graph shows the response of the suspended load to the SLCS when the control line tension is insufficient. Figure 17B The diagram shows the response of the suspended load to SLCS control when the control line has sufficient tension, which may occur when the system includes the apparatus, system and method disclosed herein. Figure 17A The graph of insufficient tension in the SLCS shows the SLCS oscillating back and forth about the vertical axis of its suspension (e.g., about the Y-axis). The result is a reduced ability of the SLCS to control the load, an increased delay in applying force (e.g., torque) from the SLCS to the load, increased power consumption by the SLCS, and a significant degraded performance, which undermines the rationale for using another device, such as the SLCS, in operation. Figure 17B The graph showing sufficient tension indicates a reduction in the oscillation of the SLCS around its vertical axis of suspension (e.g., around the Y-axis) compared to the graph showing insufficient tension. The result is enhanced SLCS control over the load, reduced delay in applying force (e.g., torque) from the SLCs to the load, reduced power consumption by the SLCS, and improved performance that justifies its use in operation. Figure 17B The graph further illustrates the response of the intentionally rotating load and the SLC, rather than as... Figure 17A That would only attempt to keep the load in one direction. Figure 17B The curve also has the same characteristics as Figure 17A The two graphs show different scales, although a significant improvement in SLCS performance can be seen by comparing the two graphs.

[0109] Status indicator lights can be installed on various surfaces of the SLCS to aid in viewing and operating the SLCS from above and below. For example, the SLCS has external lighting, such as LEDs, near the thrusters that can identify the edges and orientation of the SLCS. This allows for better identification in difficult to observe situations such as inclement weather. During operation, LED display indicators on the remote interface and system body show that the system is active, conveying useful information.

[0110] The electronics box 165 contains and protects computer hardware such as computer processors and memory, power supply, electronic speed controllers, microcontrollers, sensors, and the like. The power supply can be a single power block or an array of battery cells wired in series and / or parallel, such as lithium polymer (LiPo) cells. The batteries are removable for inspection and / or replacement of discharged and charged batteries. The batteries, when installed in the SLCS (i.e., without removing the batteries), can be charged through a node on or in the SLCS or a wireless charging system, with the SLCS connected to a charging dock or power supply through a wired connection such as the main power conduit 180. The batteries include a secondary battery to provide a stable power supply to the processors even when the thrusters in the fan units are drawing relatively large amounts of power from the primary batteries. In embodiments, the crane can provide some power to the SLCS, while the SLCS can obtain other power from an on-board power source. In embodiments, the SLCS can be powered by a combination of an on-board power source and a remote power source. In many environments, all power for the SLCS is contained on the vehicle, allowing for fully autonomous operation without reliance on using external power sources or delivery devices.

[0111] Contained within the electronics box 165 is a data link that allows the microcontroller unit or processor to monitor power information including, but not limited to, battery voltage and real-time power dissipation or consumption.

[0112] Contained within the electronics box 165 is a thruster controller that allows the computer processor to control the speed, power consumption, and thrust of the thrusters in the EDF. The thruster controller can be, for example, an electronic speed controller (“ESC”) for the EDF. The ESC typically has at least three connections: to the power supply, to the thrusters, to the processor or microcontroller, or both. The ESC draws power from the power supply and distributes it to the thrusters to control the amount of thrust generated by the EDF.

[0113] The electronics box 165 contains a computer processor or central processing unit (CPU) within. The processor can be an embedded system including a signal board computer and one or more microcontrollers ("MCU"). The CPU and MCU can be contained within a housing in which a data link connection can be made. The electronics box 165 can be made of or consist of a strong plastic or polymer that protects the system from environmental and operational factors such as weather and other operating conditions. In some embodiments, the CPU and MCU are mounted to the same printed circuit board (PCB).

[0114] The electronics box 165 can contain one or more wireless transceivers, including separate transmitters and receivers, and antennas for wireless communication. The transceivers and / or wireless antennas can also be mounted to or printed on the same printed circuit board as the processor. The wireless transceivers can include access points for Bluetooth, Wi-Fi, microwave, and / or radio frequency (RF) transmission and reception. The wireless transceivers can be used to communicate with remote sensors, remote control units, remote location units or target nodes, remote interfaces, and the like, as discussed further herein.

[0115] The electronics box 165 can contain a vector navigation unit, which can include an inertial measurement unit ("IMU"). The IMU provides inertial navigation data to the processor.

[0116] In addition to the IMU, the SLCS 105 includes or is communicatively coupled to one or more sensors. Other such sensors include, for example, inertial measurement systems, directional measurement systems, and absolute position measurement systems. Inertial measurement systems ("IMS") include 3 degrees of freedom (3DOF) accelerometers, gyroscopes, and gravity sensors, which can include microelectromechanical systems (MEMS) sensors. Directional measurement systems can include magnetometers or magnetometric devices such as compasses, inclinometers, directional encoders, and radio frequency relative position systems. Absolute position measurement systems can include global positioning system (GPS) sensors.

[0117] The sensors can also include proximity sensors or light detection and ranging (lidar) systems (e.g., rotating or linear), and / or optical sensors such as one or more cameras or infrared (IR) sensors. The proximity sensors can include ground height sensors. The optical sensors can also provide visual information to a user. This information can be transmitted by the SLCS processor to a remote device through a data link cable and / or wireless transceiver. The proximity and optical sensors allow the system to be able to perceive 360 degrees and avoid collisions by detecting obstacles and changing the route of the SLCS to avoid the obstacles. The system can also provide ground (or water) location data to crane operators and ground crew. Sensors that need to view the surrounding environment can be placed on or at the surface of the SLCS 105 and / or away from the SLCS 105.

[0118] Other SLCS sensors can include strain sensors to measure loads on the housing, on the fan unit, on the conduit, on the fixed structure of the hawser, on the control line 110, etc. Other sensors can include rotary encoders or thruster speed sensors (which can be incremental or absolute), and a shutdown flag presence sensor.

[0119] The SLCS can use remote position sensors or beacons, remote computing units, or target node transceiver devices to help characterize the position and / or motion of the suspended load and / or SLCS 105 (e.g., relative to the crane), the carrier, the desired target position (such as the load destination).

[0120] The SLCS processor applies algorithms to the received sensor system data to produce the desired system response. For example, GPS sensor data can be optimized through real-time kinematic (RTK) algorithms to develop an optimized absolute position. Measurements can be fused together through non-linear data fusion methods, such as Kalman filter methods, to produce the best state estimate in all degrees of freedom to characterize the position and motion of the system in geodetic space.

[0121] The apparatus and methods of the present disclosure are described in the foregoing based on several preferred embodiments. Different aspects of different variations are considered to be described in combination with each other, so that all combinations that a person skilled in the art can read from this text at the time of reading can be considered to be read within the scope of the concept of the present disclosure. The preferred embodiments do not limit the scope of protection herein.

[0122] Implementations of the operations described herein can be implemented in a computer-readable storage device having stored thereon instructions that, when executed by one or more processors, perform the methods. The processors can include, for example, processing units and / or programmable circuitry. The storage devices can include machine-readable storage devices including any type of tangible, non-transitory storage device, for example, any type of disk including floppy disks, optical disks, compact disk read-only memories (CD-ROMs), compact disk rewritables (CD-RWs), magneto-optical disks, semiconductor devices such as read-only memories (ROMs), random access memories (RAMs) such as dynamic and static RAMs, erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), flash memories, magnetic or optical cards, or any type of storage devices suitable for storing electronic instructions. USB (Universal Serial Bus) is compliant with or compatible with Universal Serial Bus Specification Revision 2.0 published by the Universal Serial Bus Organization on April 27, 2000 and / or higher versions of this specification, for example, Universal Serial Bus Specification Revision 3.1 published on July 26, 2013. Bus and Interface Standards (PCIe) is compliant with or compatible with PCI Express 3.0 Base Specification Revision 3.0 published by Peripheral Component Interconnect Special Interest Group (PCI-SIG) on November 2010 and / or higher versions and / or related versions of this specification.

[0123] As used in any implementation herein, the term“logic” can refer to logic embodied in instructions, software, and / or firmware that, when executed by a processor, allocates resources and / or performs any of the operations described herein. Software can be embodied as a software package, code, instructions, instruction sets, and / or data stored anywhere on a non-transitory computer-readable storage medium, such as a hard disk, a memory, a solid state drive, or a RAM. Firmware can be embodied as code, instructions, or instruction sets that are hard-coded (e.g., nonvolatile) in memory devices.

[0124] “Circuitry” as used in any implementation herein can include, for example, singly or in any combination, hardwired circuitry, programmable circuitry such as one or more field programmable gate arrays (FPGAs), and / or programmable logic devices (PLDs). Logic may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), system on chipset (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc.

[0125] In some embodiments, a hardware description language (HDL) can be used to specify circuit and / or logic implementations for various logic and / or circuits described herein. For example, in one embodiment, the hardware description language is compliant with or compatible with Very High Speed Integrated Circuit (VHSIC) Hardware Description Language (VHDL), which can enable semiconductor fabrication of one or more circuits and / or logics described herein. The VHDL is compliant with or compatible with IEEE Standard 1076-1987, IEEE Standard 1076.2, IEEE 1076.1, IEEE Draft 3.0 for VHDL-2006, IEEE Draft 4.0 for VHDL-2008, and / or other versions of IEEE VHDL standards and / or other hardware description standards.

[0126] As used herein, the term "module" (or "logic") can refer to, belong in, or include an application specific integrated circuit (ASIC), a system on a chip (SoC), an electronic circuit, a programmable circuit (such as a field programmable gate array (FPGA)), a processor (shared, dedicated, or group) and / or memory (shared, dedicated, or group) or another computer hardware component or device or combination, combinational logic circuit, and / or other suitable components that provide the described functionality and that execute machine- executable instructions (generated by an assembler and / or a compiler) of one or more software or firmware programs. A module can be different independent components integrated through sharing or passing data, or a module can be sub-components of a single module, or split between several modules. Components can be processes running on a single computing node or processes distributed between multiple computing nodes running in parallel, concurrently, serially, or in combination, as more fully described in connection with the flow diagrams in the accompanying figures.

[0127] 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 can include one or more execution cores. A processor can be configured as one or more sockets, each of which can include one or more execution cores.

[0128] As used herein, "releasable," "connected," "connected," "connectable," "disconnected," "disconnected," and "disconnectable" refer to two or more structures that can be connected or disconnected, typically without the use of tools (tools including, for example, screwdrivers, pliers, drill bits, saws, welders, torches, irons, and other heat sources) or the repeated use of tools (such as by using nuts, bolts, or screws). As used herein, "attached," "attached," or "attachable" refers to two or more structures or components attached by the use of tools or chemical or physical bonding, but wherein the structures or components typically cannot be repeatedly released or reattached. As used herein, "fixed," "fixed," or "fixable" refers to two or more structures or components that are connected or attached.

[0129] The SLCS 105 can be formed of any suitable material, such as metal, plastic, composite materials, such as fiber reinforced resin. The SLCS 105 can allow access to the interior space via a sealed hatch or one or more removable panels for maintenance and inspection.

[0130] While specific implementations have been shown and described herein, one of ordinary skill in the art will appreciate that alternative and / or equivalent implementations can be substituted for the specific implementations shown and described without departing from the scope of this disclosure. For example, while various implementations have been described above in terms of cranes, in other implementations, the SLCS can be employed beneath a helicopter. This application is intended to cover any modifications or variations of the implementations discussed herein.

[0131] The following are non-limiting examples.

[0132] Example 1 : A load control system for affecting at least one of a position, orientation, or motion of a load suspended from a primary load line on a carrier, comprising: a rotary coupling, a winch, a winch control line fixed to the load and the winch, a thruster, a sensor suite, and a computer processor and memory; wherein the memory comprises a control module for determining, when executed by the computer processor, a tension of the winch and at least one of a position, orientation, or motion of the load from sensor data of the sensor suite and controlling the tension of the winch and the thruster to affect at least one of the position, orientation, or motion of the load, and wherein the rotary coupling allows the load control system to rotate about a vertical axis of the primary load line without applying a significant torque to the primary load line.

[0133] Example 2: The load control system of example 1, wherein the load control system is fixed to a primary sheave by the rotary coupling, wherein the primary sheave is fixed to the primary load line.

[0134] Example 3: The load control system of example 1, wherein the rotary coupling comprises a set of bearings, wherein the set of bearings are arranged radially about a central axis of the primary load line.

[0135] Example 4: The load control system of example 1, wherein the rotary coupling does not transfer a primary lifting force between the carrier and the load, but instead transfers a torque from the load control system to the load through the winch control line.

[0136] Example 5: The load control system according to example 1, wherein the winch control line does not transfer a main lifting force between the carrier and the load, but transfers a torque from the load control system to the load through the winch control line.

[0137] Example 6: The load control system according to example 1, wherein the main load bearing line comprises a load bearing rotational coupling, wherein the load bearing rotational coupling allows the load to rotate around a vertical axis of the main load bearing line without applying a significant torque to the main load bearing line.

[0138] Example 7: The load control system according to example 1, further comprising at least one of a plurality of thrusters, a plurality of winches, a plurality of winch control lines.

[0139] Example 8: The load control system according to example 1, wherein a thrust control module is configured to combine sensor data of a sensor suite through a non-linear filter to determine a current state to determine at least a position, orientation or motion, and wherein the control module is further configured to utilize the current state to control tension of winches and thrusters to influence at least one of a position, orientation or motion of the load.

[0140] Example 9: The load control system according to example 8, wherein utilizing the current state to control tension of the winches and the thrusters to influence at least one of a position, orientation or motion of the load is projecting a near future motion from the current state utilizing feedback of at least one of a functional mode or command state of an operational module, a thrust and orientation map or a fan map.

[0141] Example 10: The load control system according to example 1, wherein the thrusters comprise at least one of a fan or a flywheel.

[0142] Example 11: A computer-implemented method for influencing at least one of a position, orientation or motion of a load suspended by a main load bearing line from a carrier, comprising: determining a position, orientation or motion of the load and a tension on a winch from sensor data of a sensor suite, wherein the winch is secured to the load with a winch control line; controlling the winch and thrusters to influence at least one of a position, orientation or motion of the load, wherein a rotational coupling allows the winch and the thrusters to rotate around a vertical axis of the main load bearing line without applying a significant torque to the main load bearing line.

[0143] Example 12: The method according to example 11, further comprising tensioning the winch control line and activating the thrusters to influence at least one of a position, orientation or motion of the load.

[0144] Example 13: The method of example 11, further comprising transmitting torque from a load control system to the load through the winch control line.

[0145] Example 14: The method of example 11, further comprising transmitting a primary lifting force between the load and the carrier, wherein the primary lifting force between the load and the carrier bypasses the rotational coupling.

[0146] Example 15: The method of example 11, wherein the load bearing rotational coupling allows the load to rotate about a vertical axis of the primary load line without applying a significant torque to the primary load line.

[0147] Example 16: The method of example 11, further comprising combining sensor data of the sensor suite through a non-linear filter to determine a current state, thereby determining a position, orientation, or motion and a tension on the winch, wherein the current state comprises the position, orientation, or motion and the tension on the winch.

[0148] Example 17: The method of example 16, further comprising predicting a near-future motion from the current state and controlling the winch and the thruster according to the near-future motion.

[0149] Example 18: The method of example 11, wherein predicting a near-future motion from the current state comprises updating the current state with feedback from at least one of a functional mode or command state of an operational module, a thrust and orientation map, a fan map, or a winch map.

[0150] Example 19: An apparatus for affecting at least one of a position, orientation, or motion of a load suspended by a primary load line from a carrier, comprising: means for determining a position, orientation, or motion of the load and a tension of a winch control line on a winch from sensor data of a sensor suite; means for securing the winch to the load with the winch control line; means for controlling the winch, the winch control line, and a thruster to affect at least one of the position, orientation, or motion of the load; and means for a rotational coupling, wherein the rotational coupling allows the winch and the thruster to rotate about a vertical axis of the primary load line without applying a significant torque to the primary load line.

[0151] Example 20: The apparatus of example 19, further comprising means for tensioning the winch control line with the winch; and means for activating the thruster to affect at least one of the position, orientation, or motion of the load.

[0152] Example 21 : The apparatus of example 19, further comprising means for transferring torque to the load through the winch control line.

[0153] Example 22: The apparatus of example 19, further comprising means for transferring primary lift between the load and the carrier, wherein the primary lift between the load and the carrier bypasses the rotational coupling.

[0154] Example 23: The apparatus of example 19, further comprising means for carrying the rotational coupling to allow the load to rotate about a vertical axis of the primary load line without applying a significant torque to the primary load line.

[0155] Example 24: The apparatus of example 19, further comprising means for combining sensor data of the sensor suite through a non-linear filter to determine a current state to determine a position, orientation or motion and a tension on the winch, wherein the current state comprises the position, orientation or motion and the tension on the winch.

[0156] Example 25: The apparatus of example 24, further comprising means for projecting a near-future motion from the current state; and means for controlling the winch and the thruster according to the near-future motion.

[0157] Example 26: The apparatus of example 19, wherein the means for projecting a near-future motion from the current state comprises means for updating the current state with feedback of at least one of a functional mode or command state of an operational module, a thrust and orientation map, a fan map or a winch map.

[0158] Example 27: The apparatus of example 19, wherein the apparatus is suspended above the load at a terminal end of a primary load line.

[0159] Example 28: One or more computer-readable media comprising instructions that, in response to a processor of a computer device executing the instructions, cause the computer device to: determine a position, orientation or motion of a load and a tension of a winch control line on a winch from sensor data of a sensor suite; control the winch, the winch control line and a thruster to affect at least one of the position, orientation or motion of the load; wherein the computer device is fixed to a primary load line below a carrier through a rotational coupling, wherein the rotational coupling allows the computer device, the winch and the thruster to rotate about a vertical axis of the primary load line without applying a significant torque to the primary load line.

[0160] Example 29: The computer readable medium of example 28, wherein the instructions further cause the computer device to utilize the winch to tension the winch control line and to initiate the thruster to affect at least one of a position, orientation, or motion of the load.

[0161] Example 30: The computer readable medium of example 28, wherein the instructions further cause the computer device to transfer a torque to the load through the winch control line.

[0162] Example 31 : The computer readable medium of example 28, wherein a primary lifting force is transferred between the load and the carrier, wherein the primary lifting force between the load and the carrier bypasses the rotational coupling.

[0163] Example 32: The computer readable medium of example 28, wherein the instructions further cause the computer device to combine sensor data of the sensor suite through a non-linear filter to determine a current state, to determine a position, orientation, or motion and a tension on the winch, wherein the current state comprises the position, orientation, or motion and the tension on the winch.

[0164] Example 33: The computer readable medium of example 28, wherein the instructions further cause the computer device to project a near-future motion from the current state and to cause the apparatus to control the winch and the thruster according to the near-future motion.

[0165] Example 34: The computer readable medium of example 28, wherein the instructions further cause the computer device to project a near-future motion from the current state comprises an apparatus to update the current state with feedback from at least one of a functional mode or command state of an operational module, a thrust and orientation map, a fan map, or a winch map.

Claims

1. A suspended load control system, which influences at least one of the position, direction, or movement of a load suspended on a carrier by a main load-bearing line by tensioning a winch control line, and uses less power, characterized in that, include: Rotary connector, winch, winch control line fixed to the load and winch, thruster, sensor kit, and computer processor and memory; The suspended load control system includes at least the thruster and the winch, which are fixed to the main load-bearing line extending from the carrier at or near the load, and the thruster includes at least one of a fan or a flywheel. The memory includes a control module that, when executed by the computer processor, determines, based on sensor data from the sensor suite, at least one of the tension on the winch and the position, direction, or movement of the load. This control module is used to tension the winch control line and to control the movement or rotation of the thruster within the suspended load control system, thereby influencing at least one of the position, direction, or movement of the load. The rotary connector allows the suspended load control system to rotate around the vertical axis of the main load line without applying significant torque to the main load line. The rotary connector does not transmit the main lifting force between the carrier and the load, but instead transmits the torque from the suspended load control system to the load through the winch control line. Furthermore, the control module is used to tension the winch control line to reduce the delay in movement or rotation between the suspended load control system and the load, and to reduce the reaction time of movement or rotation between the suspended load control system and the load. The tension on the winch control line reduces the power consumption of the suspended load control system and does not apply force to the main load line.

2. The suspended load control system according to claim 1, characterized in that, The suspended load control system is fixed to the main pulley via the rotary connector, wherein the main pulley is fixed to the main load line and transmits the main lifting force between the carrier and the load.

3. The suspended load control system according to claim 1, characterized in that, The rotary coupling includes a bearing assembly arranged radially around the central axis of the main load-bearing line.

4. The suspended load control system according to claim 1, characterized in that, The main load-bearing line includes a load-bearing rotary connector, wherein the load-bearing rotary connector allows the load to rotate about the vertical axis of the main load-bearing line without applying significant torque to the main load-bearing line, and transmits the main lifting force between the carrier and the load.

5. The suspended load control system according to claim 1, characterized in that, The thrust control module combines sensor data from the sensor suite using a nonlinear filter to determine the current state, thereby determining the tension on the winch and at least the position, direction, or movement of the load, and wherein the control module further utilizes the current state to influence at least one of the position, direction, or movement of the load.

6. The suspended load control system according to claim 5, characterized in that, Using the current state to influence at least one of the position, direction, or movement of the load is to project near-future movement based on feedback from at least one of the operation module's functional mode or command state, thrust and direction mapping, or wind turbine mapping, according to the current state.

7. A computer-implemented method for reducing the reaction time of motion or rotation between a suspended load control system and a load suspended on a carrier by a main load-bearing line by tensioning a winch control line, and for reducing the power consumption of the suspended load control system, characterized in that... This includes: determining the position, direction, or movement of the load and the tension on the winch based on sensor data from the sensor kit, wherein the winch is fixed to the load using the winch control line; Tensioning the winch control line to increase winch tension without applying force to the main load line, and wherein tensioning the winch control line to increase winch tension further includes reducing the delay of movement or rotation between the suspended load control system and the load, reducing the response time of movement or rotation between the suspended load control system and the load, and reducing the power consumption of the suspended load control system; Furthermore, it controls the movement or rotation of the propeller-driven suspended load control system to influence at least one of the load's position, orientation, or motion. The rotary connector allows the winch and the pusher to rotate about the vertical axis of the main load line without applying significant torque to the main load line. Torque is transmitted from the suspended load control system to the load via the rotary connector and the winch control line, without transmitting the main lifting force between the carrier and the load; The suspended load control system includes at least the thruster and the winch, which are fixed at or near the load on the main load line extending from the carrier, and the thruster includes at least one of a fan or a flywheel.

8. The method according to claim 7, characterized in that, Also includes: The sensor data from the sensor suite are combined using a nonlinear filter to determine the current state, thereby determining the position, orientation, or motion, and the tension on the winch, wherein the current state includes the position, orientation, or motion, and the tension on the winch.

9. The method according to claim 8, characterized in that, Also includes: The winch and the thruster are controlled based on the current state to predict near-future motion.

10. The method according to claim 8, characterized in that, Predicting near-future motion based on the current state includes updating the current state using feedback from at least one of the following: the function mode or command state of the operation module, thrust and direction mapping, wind turbine mapping, or winch mapping.

11. A device that reduces the reaction time of motion or rotation between a suspended load control system and a load suspended on a carrier by a main support line by tensioning a winch control line, and reduces the power consumption of the suspended load control system, characterized in that... include: A device for determining the position, direction, or movement of a load and the tension of the winch control line on the winch based on sensor data from a sensor kit. A device for securing the winch to the load using the winch control line; Used to tension the winch control line to increase winch tension, thereby reducing the delay in movement or rotation between the suspended load control system and the load, and reducing the reaction time of movement or rotation between the suspended load control system and the load; wherein using the winch control line to increase winch tension does not apply force to the main load line and reduces the power used by the suspended load control system; A means for controlling a propeller to move or rotate a suspended load control system to affect at least one of the position, orientation or motion of the load; A device for a rotary coupling, wherein the rotary coupling allows the winch and the thruster to rotate about the vertical axis of the main load line without applying significant torque to the main load line and the rotary coupling does not transmit the main lifting force between the carrier and the load, but instead transmits torque from the suspended load control system to the load through the winch control line; The suspended load control system includes at least the thruster and the winch, which are fixed at or near the load on the main load line extending from the carrier, and the thruster includes at least one of a fan or a flywheel.

12. The apparatus according to claim 11, characterized in that... It also includes means for supporting the rotary connector to allow the load to rotate about the vertical axis of the main load line without applying significant torque to the main load line.

13. The apparatus according to claim 11, characterized in that, It also includes means for combining sensor data from the sensor suite using a nonlinear filter to determine a current state, thereby determining position, orientation, or motion, and tension on the winch, wherein the current state includes position, orientation, or motion, and tension on the winch.

14. The apparatus according to claim 13, characterized in that, It also includes means for projecting near-future motion based on the current state; and means for controlling the winch and the thruster based on the near-future motion.

15. The apparatus of claim 14, characterized in that the means for projecting near-future motion based on the current state includes means for updating the current state using feedback from at least one of the following: the function mode or command state of the operating module, thrust and direction mapping, wind turbine mapping, or winch mapping.

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