Load stabilization system

Abstract

Load stabilization system (110, 210, 260, 310, 410) for stabilizing a load suspended from a cable (120), comprising: - at least one attachment point for the rope (520), - at least one attachment point for the load (540, 600, 630, 650), - at least one thruster mounting structure (200, 250, 300, 400, 800, 1300), - at least one power supply (910), - at least one sensor arrangement, - a thruster control (930), - two or more thrusters (1210) connected to the thruster mounting structure (200) and controlled by the thruster control (930), and - a processor (1010) operatively connected to the sensor arrangement (410) and the thrust generator control (930), - where the processor is configured to: -- to determine a data fusion comprising a representation of a state of the load stabilization system, wherein, for determining the data fusion, the processor is configured to fuse sensor data from the sensor arrangement in a filter, in particular a non-linear filter, -- predict short-term future movement based on data fusion and feedback from at least one of a user-selected functional mode and thrust and orientation mapping (1930), -- to determine how the load stabilization system should move or exert force in the operating mode selected by the user, and -- to apply appropriate thrust by controlling the thrust generators (1940).

Description

TECHNICAL FIELD OF THE INVENTION

[0001] The invention relates to a load stabilization system and a non-volatile computer-readable storage medium. BACKGROUND OF THE INVENTION

[0002] Rescue helicopters provide rapid access to injured or isolated patients at sea or on land. However, sometimes helicopters cannot land immediately next to the patient, and the patient must be rescued using a hoist while the helicopter hoists above the patient. During such operations, however, the lifting equipment, particularly rescue hoist cables and attached components such as stretchers or tie-downs, are exposed to wind and other external factors that cause the cable to move, e.g., twist and / or swing. This movement complicates the mission, leads to delays in medical care, and has resulted in the death of both rescuers and patients.

[0003] Modern lifting and rescue operations involving helicopters often result in unstable, dangerous movements of the suspended person or equipment, endangering the operation and, above all, the people involved. The observed movement of the load can resemble that of a lateral or conical pendulum, with or without rotation around the pivot point. One mission-critical aspect of the hoist's functionality remains unsolved: the reliable stability of the rope movement. Uncontrolled rope movements endanger lives and mission success, hinder operational capabilities due to environmental influences, and drastically increase operating costs.

[0004] US 8,938,325 B1 discloses a load stabilization system in which the system is controlled using a linear Kalman filter. A distinction is made between a) "single or pure" lifting operations, where the length of the suspension cable is static and where the linear Kalman filter can be used, and b) lifting operations where the length of the suspension cable changes, in which case linearization becomes problematic, and therefore an approach without the Kalman filter should be used. According to US 8,938,325 B1, the Kalman filter control approach fails in certain cases due to nonlinearities caused by a variable-length suspension cable. If this occurs, it is supposed to be compensated for using simple low-pass filtering and high-quality sensors, whereby previously measured spring constants for different suspension cables must then be looked up in a lookup table. DISCLOSURE OF THE INVENTION

[0005] It has been shown that the known load stabilization system can be improved in various aspects. The invention is therefore based on the object of providing a load stabilization system that is easy to operate and does not require the input of spring constants for the various suspension ropes used in practice. Furthermore, the user should not have to estimate the effects on suspended loads and unwanted movement. It should be noted at this point that the term "suspension rope," or "rope" for short, encompasses all types of ropes used in lifting equipment of the type in question here, i.e., wire ropes, braided and twisted ropes, etc.

[0006] The object is achieved by a load stabilization system having the features of claim 1. The independent claim 14 relates to a non-volatile computer-readable storage medium.

[0007] The applicant has developed a load stabilisation system which, in contrast to the system known from the aforementioned US 8,938,325 B1, uses a non-linear filter and is easy to operate, does not require the input of spring constants for a wide variety of suspension cables and in which the user does not have to estimate the effects of disturbances.

[0008] As taught herein, a processor is configured to determine a data fusion comprising a representation of a state of the load stabilization system, wherein to determine the data fusion, the processor is configured to fuse sensor data from the sensor array in a nonlinear filter, predict a near-term future movement based on the data fusion and feedback from at least one of a user-selected functional mode and a thrust and orientation mapping, determine how the load stabilization system should move or apply force in the user-selected functional mode, and apply appropriate thrust by controlling the thrust generators.

[0009] Preferably, the system can operate completely autonomously and does not require external control during operation.

[0010] In a preferred embodiment, the filter uses a nonlinear variant of a Kalman filter. This has the advantage that complex, nonlinear load movements can be modeled and controlled more accurately.

[0011] In a further preferred embodiment, the functional mode comprises different modes so that the system can react flexibly to different application scenarios.

[0012] In a further preferred embodiment, the sensor arrangement comprises at least one of an inertial measurement system, an orientation measurement system, and a measurement system for determining an absolute position. This advantageously allows for comprehensive and accurate detection of the position and movement of the system.

[0013] In a further preferred embodiment, the system comprises a tensile support component. This has the advantage of increasing the stability and load-bearing capacity of the system.

[0014] In a further preferred embodiment, the thruster mounting structure is connected to the tensile support component. This has the advantage of enabling efficient force transmission from the thrusters to the load.

[0015] In a further preferred embodiment, the system comprises a central module. This has the advantage of enabling a compact and modular design.

[0016] In a further preferred embodiment, the system comprises a remote positioning unit. This has the advantage of enabling precise positioning and navigation relative to a fixed point.

[0017] In another preferred embodiment, the system includes a wireless transceiver. This has the advantage of enabling wireless communication and control.

[0018] In another preferred embodiment, the remote positioning unit communicates with the wireless transceiver. This has the advantage of providing an accurate position reference for the system.

[0019] In a further preferred embodiment, the system includes an interactive remote display. This has the advantage of enabling user-friendly monitoring and control of the system.

[0020] In a further preferred embodiment, the interactive remote display is configured for various functions that provide the user with comprehensive information and control options.

[0021] Further details and advantages of the invention will become apparent from the following purely exemplary and non-limiting description of embodiments of the invention in conjunction with the drawing comprising 22 drawing figures. SHORT DESCRIPTION OF THE DRAWING Fig. Figure 1 shows a schematic diagram of a swinging load suspended from a helicopter and stabilized by a load stabilization system. Fig. 2A shows an isometric view of a load stabilization system with a box-shaped housing according to one embodiment. Fig. 2B shows a front view of a load stabilization system with a hexagonal center module and two drive arms according to an embodiment. Fig. 3 shows a perspective cross-sectional view of a suspended load stabilization system showing structural features according to one embodiment. Fig. 4A-4C show perspective, front, and side views of a load stabilization system with an aerodynamic housing according to one embodiment. Fig. 5 shows a central component of a load stabilization system according to an embodiment. Fig. 6A-6B show two different sleeves connected to the central member to secure a load according to one embodiment. Fig. 7A-7B show the central component attached to each of the two sleeves for securing a load according to one embodiment. Fig. 8 shows a perspective view of a supporting structure of a load stabilization system according to an embodiment. Fig. 9 shows a perspective view of components mounted in the supporting structure of a load stabilization system according to an embodiment. Fig. 10 shows a perspective view of components of a load stabilization system mounted in the structure according to one embodiment. Fig. 11A shows a perspective view of an alternative center module design of a load stabilization system according to one embodiment. Fig. 11B shows a front view of another alternative center module design of a load stabilization system according to an embodiment. Fig. 12A shows a perspective view of a thruster configured for use in a load stabilization system according to one embodiment. Fig. 12B shows a perspective view of a dual-thruster drive arm of a load stabilization system according to one embodiment. Fig. 12C shows a perspective view of a support component for a dual-thruster drive arm of a load stabilization system according to one embodiment. Fig. 12D shows an isometric view of another dual-thruster drive arm of a load stabilization system according to an embodiment. Fig. 13A-13C show perspective, front, and side views of thrusters mounted in the structure of a load stabilization system according to one embodiment. Fig. 14 shows a perspective view of a load stabilization system with sensors mounted on an aerodynamic housing according to one embodiment. Fig. 15 schematically shows the operating components of a load stabilization system including a remote interface according to an embodiment. Fig. 16 shows a perspective view of a remote position unit or target node of a load stabilization system according to an embodiment. Fig. 17 shows a perspective view of a charging station for a suspended load stabilization system according to an embodiment. Fig. 18 shows an operational flow of using a multi-mode load stabilization system according to one embodiment. Fig. 19 shows a decision and control sequence when using a load stabilization system according to an embodiment. Fig. 20A shows a perspective view of an upper lifting ring with external status indicator lights of a load stabilization system according to one embodiment. Fig. 20B shows a top view of the status indicator lights of a load stabilization system according to one embodiment. Fig. 21 shows a screenshot of a control interface for a load stabilization system according to an embodiment. Fig. Figure 22 shows a diagram illustrating the motion of an oscillating load and the motion of a load stabilized by a load stabilization system. DESCRIPTION OF EMBODIMENTS

[0022] In the figures, identical or equivalent parts have been provided with identical reference symbols, and repeated descriptions of such parts have been avoided wherever possible. Furthermore, to avoid overloading the figures, where several identical parts are shown in one figure, only some of these parts have been provided with reference symbols.

[0023] The general approach to controlling the behavior of a swaying load is to install countermeasures on the support device or to manipulate the support device itself. Some support devices, such as the Sky Crane, have a rail system installed beneath the cabin to mitigate load sway. Most proposed approaches involve installing automated countermeasures on an aircraft's stability enhancement system. In fact, crew chiefs who remain in the helicopter during a rescue attempt to manipulate the rope by pushing and pulling it from the cabin, which has limited effect. All of these measures have proven insufficient.

[0024] In various embodiments, as described below, an autonomous, unmanned suspended load stabilization control system solves this problem. The load stabilization system (hereinafter also referred to as "LSS") of this disclosure counteracts the movement of the suspended load by applying opposing forces from thrust generators, such as high-performance electric ducted fans ("EDFs"), on or near the load. Consequently, the LSS increases mission safety by completely relieving the pilot and crew of responsibility for the stability of the suspended load. Furthermore, the capability of such operations is enhanced by integrating the LSS's ability to dynamically control the load position, separate from aircraft motion.

[0025] The load stabilization system controls the movement of a suspended load through a self-powered, automated, detachable system on the cable itself between the respective lifting device (e.g., a helicopter) and the external load. The system is agnostic to the lifting device from which the load is suspended (e.g., the characteristics of a helicopter), as it independently determines the flight dynamics required to stabilize the load. This enables widespread application of the system independent of the lifting device, reducing costs and mitigating operational risks.

[0026] The load stabilization system offers advantages in many different lifting operations, e.g. search and rescue using helicopter hoist operations, helicopter forest fire fighting, crane operations e.g. on oil platforms, naval supply vessels, civil lifting operations, deep sea drilling applications, spacecraft control and civil firefighting.

[0027] Reference will now be made in detail to the description of the embodiments as illustrated in the drawings. Although embodiments are described in conjunction with the drawings and related descriptions, there is no intention to limit the scope to the embodiments disclosed herein. On the contrary, the intention is to cover all alternatives, modifications, and equivalents. In alternative embodiments, additional devices or combinations of illustrated systems and their components may be added or combined without limiting the scope of the embodiments disclosed herein. For example, the embodiments illustrated below are primarily described in the context of a hoist operation or a helicopter search and rescue mission.However, these embodiments are illustrative examples and in no way limit the disclosed technology to a particular application or to particular carrying devices such as helicopters or cranes.

[0028] The terms "in one embodiment," "in various embodiments," "in some embodiments," and the like are used repeatedly. Such terms 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," "a" and "the" include plural referents unless the context clearly dictates otherwise. It should also be noted that the term "or" is generally used to include the meaning "and / or" unless the context clearly dictates otherwise.

[0029] Fig. 1 is a partial schematic illustration 100 of a swinging load suspended from a helicopter 140 and stabilized by a load stabilization system 110. The helicopter 140 suspends a person from a cable 120 from a point 130. Without the LSS 110, the cable and the suspended person 150 may swing and / or rotate laterally and / or in a conical motion. The LSS 110 counteracts uncontrolled swinging and rotation, allowing the person to be transported to the desired point or location 160.

[0030] The LSS can take a variety of form factors. Fig. Figures 1, 2A-2B, 3, and 4A-4C illustrate various arrangements and housing shapes. The illustrated systems each utilize two pairs of unidirectional thrusters. In other embodiments, a load stabilization system could employ bidirectional thrusters in different numbers or arrangements. However, it is not necessary to show such implementation details to describe illustrative embodiments.

[0031] Fig. 2A illustrates an isometric view 200 of a suspended load stabilization system having a box-shaped enclosure 210 according to one embodiment. The system 210 is entirely enclosed within a box-shaped enclosure, leaving only the thrusters, cable and load attachments, and the loading nodes freely accessible. Although the rectangular enclosure of the system 210 is not particularly aerodynamic, it can contain and protect a larger volume than other designs. The larger usable internal volume can allow for greater energy capacity (e.g., a greater number of batteries or other power sources), allowing the system 210 to provide more powerful thrusters and / or longer operating capacity before recharging or refueling.

[0032] Fig. Figure 2B illustrates a front view 250 of a suspended load stabilization system 260 having a hexagonal center module and two drive arms according to one embodiment. The system 260 provides an improved aerodynamic profile compared to the system 210 in Fig. 2A. The 260 system also provides more compact storage and easier maintenance by allowing the two drive arms to be removed. Fig. 11B below illustrates the system 260 with the drive arms removed, and the Fig. 12B-12C illustrate the removable drive arms.

[0033] Fig. 3 illustrates a perspective cutaway view 300 of a suspended load stabilization system 310 showing structural features according to one embodiment. The system 310 consists of an inner framework and an outer shell. The outer shell is made of a lightweight material such as carbon fiber that surrounds the inner framework. The framework is made of a lightweight, machined alloy. The cut or transparent housing in view 300 shows various internal parts and structural elements. The structural elements include a horizontal structural box beam connected to a C-shaped arm that supports electric ducted propellers above and below the horizontal structural box beam. Circular sensors similar to those described below with reference to Fig. 14. Also clearly visible is the dark rectangular shape of a battery with power cables that supply power to the electric ducted propeller thrusters.

[0034] In various embodiments, the LSS may be powered by a combination of onboard power and remote power. In many environments, all power for the LSS is contained onboard, allowing completely autonomous operation independent of the availability of external power sources or supplies. In some situations, a support device from which the LSS is suspended, such as a helicopter or crane, may provide LSS power via a line extending down the cable to the LSS. In some other situations, the support device may power the LSS, which carries a smaller power supply or reserve onboard for intermittent use.

[0035] The Fig. 4A-4C illustrate perspective, front, and side views of a suspended load stabilization system 410 with an aerodynamic housing 420 according to one embodiment. Fig. 4A illustrates the perspective view 400, Fig. 4B the front view 450 and Fig. 4C the side view 475.

[0036] The housing 420 may be formed from any suitable material, such as metal, plastic, fiberglass-reinforced plastic, or carbon fiber. The sleek aerodynamic profile of the illustrated housing 420 provides minimal wind resistance, a short central beam length, improved efficiency for the thrusters, sufficient anticipation to protect against or divert obstacles, and easy access for maintenance of the LSS. The housing may provide access to the interior of the LSS via a sealed hatch or one or more removable panels that allow maintenance and inspection.

[0037] Additional features and the structure of the LSS 410 are described in the following figures.

[0038] Fig. 5 View 500 illustrates a support member 510 of the suspended load stabilization system 410 according to one embodiment. The support member 510 acts as the main tension member that supports the load. Therefore, it should be constructed as strong as the cable to which it is attached in order to support the load to be stabilized by the LSS. In various embodiments, the support member 510 can be made of aluminum, steel, or carbon fiber reinforced plastic, depending on the required strength and the types of loading expected. For example, since carbon fiber is a non-isotropic material and, when subjected to tension, can cause suspended loads to generate fast, strong impulses that may be off-axis, aluminum or steel would be more suitable for this application.

[0039] A lifting ring 520 is located on top of the support member 510. The lifting ring 520 can be machined as part of the support member 510 to form a complete unit, or it can be bolted to the top of the support member 510. The lifting ring 520 enables the LSS support member 510 to be attached to an object, such as a wire rope, wire, or rope for suspending a load. For example, the lifting ring 520 can be hooked to the end of a sling or rope on a crane, boom, helicopter, or other lifting device. In some embodiments, the lifting ring is a hook or other attachment mechanism, as needed.

[0040] A pivot bearing 530 allows the lifting ring 520 to rotate freely under load. The bearing 530 may include, for example, a ball bearing interface. The pivot bearing 530 on the lifting ring 520 decouples the rotational energy generated during twisting or winding of the lifting rope from the LSS and the attached load. This allows the LSS to rotate beneath the lifting rope without being affected by rope twisting, allowing the LSS to orient itself (e.g., maintain or change orientation) in any direction necessary to stabilize the load. This also reduces the rope twisting moments applied to the load.

[0041] In the illustrated embodiment, the support member 510 is provided on the underside with fastening means 540, such as screw holes for fastening one or more different sleeve options, as described below with reference to the Fig. 6A-6B and 7A-7B.

[0042] In some embodiments, instead of a central component from which a cable hangs, the load stabilization system provides a cable attachment mechanism for locking to or around the cable. For example, the load stabilization system may include a groove or slot for securing the cable and a lever mechanism for holding or attaching to the cable. By applying force to opposite sides of the cable, the load stabilization system can be securely attached to the cable above the load. In some embodiments, such a clamping system includes wheels that apply pressure against a hard surface, thus enabling a pressure clamp. In some embodiments, the wheels can rotate when clamped, allowing the system to travel up or down the cable.

[0043] In embodiments using a cable attachment mechanism for securing the load stabilization system at a position along the cable, the cable directly supports the load, and the LSS is not mounted between the end of the cable and the top of the load. The LSS is then supported on the cable, so the LSS does not support the weight of the load. Embodiments using such a cable attachment mechanism therefore do not require a tension member through the center of the load stabilization system. Additional elements that allow rotation can allow the load stabilization system to rotate freely around the cable, e.g., by rotating around the mechanism attached to the cable.

[0044] The clampable rope attachment mechanism provides a simple interface to existing operational lifting systems and external load systems and does not require direct intervention on the rope used to suspend the load.

[0045] The details of implementing such a rope attachment mechanism are described in more detail in U.S. Provisional Patent Application No. 62 / 627,920, filed on February 8, 2018, entitled “SUSPENDED LOAD STABILITY SYSTEM THROUGH SELF POWERED AUTOMATED ELECTRIC DUCT FAN CONTROL.”

[0046] The Fig. 6A-6B show two alternative support sleeves connected to the support member 510 to secure a load according to one embodiment. Fig. 6A illustrates a perspective view 600 of a support sleeve 610 having a load hook 630 and four bow or D-ring shackles 640. The shackles 640 are each attached to a shackle bracket 645 mounted on the support sleeve 610. The load hook 630 is attached to the support sleeve 610 by an adapter plate 635. The load hook 630 may be an automatically (e.g., electronically) controlled release hook or an auto-hook, such as one or more remotely operated hooks that can be remotely operated by pressing a button from the aircraft cockpit or crane cab. The hook or hooks may allow rotation about the pivot point or restrict rotation of the suspended object.

[0047] Fig. 6B illustrates a perspective view 650 of a support sleeve 660, also including a load hook 630 and four curved or D-ring shackles 640. The support sleeve 660 also includes four projecting I-beams 670 welded or otherwise attached to the sleeve 660 and to which the shackle attachments 645 are attached.

[0048] The Fig. 7A-7B illustrate side views 700 and 750, respectively, of the support member 510 attached to each of the two alternative support sleeves 610 and 660, respectively, for securing a load according to one embodiment. Fig. 7A and Fig. 7B show the lifting ring 520 mounted on its rotating bearing 530 on top of the support member 510 and the load hook 630 at the bottom of the support member 510. In the illustrated embodiments, the LSS support is connected to the load via the load hook 630. In various embodiments, the lower connection may be a lower lifting ring or other attachment mechanism, such as those used in current daytime flight operations.

[0049] In some embodiments, the LSS provides a suspended load interface that couples the movement of the LSS and the suspended load. That is, in the illustrated embodiments, the load hook 630 is configured not to rotate or pivot independently of the support member 510; the load is rotationally fixed to the LSS. In some embodiments, the LSS load hook interface includes a pivotable attachment similar to the pivot bearing 530 of the lifting ring 520 at the opposite end of the support member 510, allowing the LSS to rotate without requiring the load to pivot beneath the LSS.

[0050] Fig. 8 illustrates a perspective view 800 of a supporting structure 810 of a suspended load stabilization system 410 according to one embodiment. As shown in the preceding figures, Fig. 8 shows the support component 510 with a lifting ring 520 and a pivot bearing 530 at the top and with a support sleeve 610 with shackles 640 and a hook adapter plate 635 at the bottom. The supporting structure 810 connected to the support component 510 includes a pair of oval profile ribs 820 that support horizontal spars 825. The horizontal spars 825 are formed from hollow tubes and can be made of, for example, carbon fiber.

[0051] The horizontal spars 825, in turn, are connected to the thruster mounting ribs 830, which are arranged parallel to the ribs 820. The thruster mounting ribs 830 include, at their upper and lower ends, the attachment points 840 of the thruster attachment mechanism for attaching the thrusters to the wing structure 810. Furthermore, the thruster mounting ribs 830 are provided with a central opening to accommodate a power supply, such as a battery, in a battery compartment 850.

[0052] Fig. 9 illustrates a perspective view 900 of components mounted in the support structure 810 of a suspended load stabilization system 410 according to one embodiment. In the illustrated embodiment, the battery compartment 850 is Fig. 8 is filled by a power supply, such as a battery 910. The power supply may consist of a single battery module or a series of battery cells connected in series and / or parallel, such as lithium polymer (LiPo) cells. The batteries 910 are removable from the battery compartment 850 for easy inspection. The batteries can be charged while installed in the LSS (i.e., without having to remove them) via nodes on the LSS 410 that are connectable to a charging station. A data connection allows a microcontroller unit or processor to monitor power information, including (but not limited to) cell voltage and power dissipation or consumption, in real time.

[0053] Additionally, an auxiliary battery 920 is attached to the carrier. The auxiliary battery 920 enables, for example, a consistent power supply to the processor even when the thrusters draw an excessive amount of power from the main batteries 910.

[0054] The thruster controller 930 enables the processor to control the speed, power demand, and thrust of the thrusters. The thruster controller 930 may, for example, be an electronic speed controller (ESC) for an electric ducted fan (EDF). An ESC typically has at least three connections: one for the power supply, one for a thruster, and one for the processor or a microcontroller, or both. The ESC draws power from the power supply and allocates it to the thrusters to control the amount of power to be delivered to the thrusters.

[0055] Fig. 10 illustrates a perspective view 1000 of components of a suspended load stabilization system 410 mounted in the support structure 810 according to one embodiment. A processor 1010 or a CPU (Central Processing Unit) is mounted in the support structure 810 in the illustrated embodiment.

[0056] The processor 1010 may be an embedded system that includes an onboard signal computer and one or more microcontroller units (MCUs). The CPU and MCUs are located, for example, in a black box where all data transmission connections are made. The black box is made of robust plastic or polymer and protects the system from environmental and operational factors such as weather and other operating conditions. In some embodiments, the CPU and MCUs are mounted on the same printed circuit board (PCB).

[0057] A wireless transceiver 1020 is also mounted in the support structure 810, which may form a separate transmitter and receiver, as well as an antenna for wireless communication. The transceiver 1020 and / or the wireless antenna may also be mounted on or printed on the same circuit board as the processor 1010.

[0058] In the Fig. In the embodiment illustrated in Figure 10, a vector navigation unit 1030 includes an inertial measurement unit (IMU). The IMU provides inertial navigation data to the processor 1010 and is mounted in the wing 810 adjacent to the processor 1010.

[0059] Some load stabilization system designs are modular. For example, the LSS can be divided into a center module and thrusters or thruster arm assemblies. Fig. 11A illustrates a perspective view 1100 of a center module 1110 of a suspended load stabilization system according to one embodiment. The center module 1110 may be equipped with, for example, two or more, e.g., four, LSS thruster arms (such as those shown in Fig. 12D) to achieve the desired vectored thrust. Like other LSS embodiments, the system is self-powered and fully wireless, with communication access points for sending and receiving via Bluetooth, Wi-Fi, and / or radio frequency transmission.

[0060] Fig. 11B illustrates a front view 1150 of another alternative design of a center module 1160 of a suspended load stabilization system according to one embodiment. The center module 1160 includes an emergency stop mechanism with an emergency stop pin 1170. The pin 1170 may be connected to a wire. The pin 1170 may then be pulled to cause an emergency shutdown of the LSS. Inside the center module, a shutdown pin presence sensor detects the position of the pin 1170 to determine whether or not it is present. The system can only operate if the pin 1170 is present. If the pin 1170 is not present, the system will not activate. The pin 1170 can be reinstalled by inserting it into the pin hole.

[0061] Fig. 12A illustrates a perspective view 1200 of a thruster 1210 configured for use in a suspended load stabilization system according to one embodiment. The LSS includes thrusters 1210 connected to the center module. These thrusters 1210 push fluids, such as air, water, or gas, in a direction to enable movement. Such a thruster 1210 may, for example, include a ducted propeller containing an electric motor that rotates rotor blades. The rotor blades are contained within an aerodynamic shroud or duct through which fluid is forced. In the case of a fan, the fluid is air, which is forced past the rotor blades, causing thrust.

[0062] Air is drawn in through an inlet at the front of the system. In some embodiments, the blades of thruster 1210 can rotate in either direction, making the thruster "bidirectional," meaning it can generate thrust in two directions. Like other means of propelling fluids, bidirectional thrusters can push air in both forward and reverse directions. In various embodiments, the fins molded into the thruster casing help create optimal vectored airflow perpendicular to the blade cross-section, meaning in both the forward and reverse directions of thruster 1210.

[0063] Fig. Figure 12B illustrates a perspective view 1225 of a two-thruster drive arm 1230 of a suspended load stabilization system according to one embodiment. The drive arm 1230 is compatible, for example, with the LSS center module 1160 in Fig. 11B above or the load stabilization system 260 in Fig. 2B above. Some thrusters are more efficient at generating thrust in the forward direction than in the reverse direction. Therefore, the propellers can be oriented with opposite primary thrust vectors, as illustrated in drive arm 1230.

[0064] In the illustrated embodiment, the LSS is capable of being disassembled into modular units. The thrusters 1210 can be separated from the arms 1230 for easy storage, and the arms 1230 can be separated from the center module 1160. For example, a push-button release pin and an electrical interface allow each of the thrusters and arm combinations to be released and separated from the center module 1160.

[0065] Fig. Figure 12C illustrates a perspective view 1250 of a support member for a dual-thruster drive arm 1260 of a suspended load stabilization system according to one embodiment. The illustrated support member connects to the thruster 1210 and enables the connection between the thruster 1210 and the center module 1260. A similar support member extending around a thruster 1210 is shown in Fig. 3 shown above.

[0066] Fig. Figure 12D illustrates an isometric view 1275 of another two-thruster drive arm 1280 of a suspended load stabilization system according to one embodiment. The drive arm 1280 is connected, for example, to the LSS center module 1110 in Fig. 11A above. The 1280 drive arm is designed to fold for easy storage and deployment. When deployed, the 1280 drive arm is parallel to the horizontal plane of the 1110 LSS center module. The arm can be extended from 0-90 degrees using interfaces such as manual, spring-loaded, or motorized.

[0067] The Fig. 13A-13C illustrate perspective, front, and side views of thrusters mounted in the structure of a suspended load stabilization system according to one embodiment. Fig. 13A illustrates the perspective view 1300, Fig. 13B the front view 1350 and Fig. 13C shows the side view 1375. In various embodiments, the thruster 1210 includes a mechanism 1320 for connecting to the attachment points 840 of the thruster attachment mechanism on the ribs 830. In some embodiments, the thrusters 1210 can be installed and removed without tools. In some embodiments, threaded holes are located on the exterior of a thruster 1210 at opposite locations, symmetrically arranged about the center of gravity of the fan shroud, to which the drive arms can be securely bolted to the thruster 1210.

[0068] The thrusters can be connected via a series of wires combined into a single cable. The wires terminate in a connector, such as a multi-pin, ruggedized connector such as an EC5. The female connector side is located on the LSS center module, e.g., at the thruster mounting mechanism attachment points 840 on the ribs 830, while the male connector is located on the thruster 1210 side, e.g., associated with mechanism 1320 or near the end of an LSS drive arm.

[0069] Fig. 14 illustrates a perspective view 1400 of a suspended load stabilization system 410 with sensors mounted on an aerodynamic housing 420 according to one embodiment. The LSS sensor assembly may include an inertial measurement system, an orientation measurement system, and an absolute position measurement system. The inertial measurement system (IMS) may include three degrees of freedom (3 DOF) accelerometers, gyroscopes, and gravity sensors, which may be microelectromechanical system (MEMS) sensors. The orientation measurement system may include a magnometer or magnetometer, such as a compass, an inclinometer, a bearing finder, and a radio frequency relative bearing system. The absolute position measurement system may include one or more global positioning system (GPS) sensors 1430.

[0070] The sensor arrangement may further include various sensors and measuring systems, such as one or more optical sensors 1410, one or more cameras, one or more infrared (IR) sensors, one or more proximity sensors, a LIDAR (Light Detection and Ranging) system 1420.

[0071] Proximity sensors may include ground height sensors. Optical sensors may be located on all sides of the enclosure and point in all directions. Optical sensors can also provide visual information to the user. This information is transmitted from the LSS processor via a data link cable and / or the wireless transceiver. Proximity and optical sensors enable the system to provide 360-degree detection and collision avoidance by detecting obstacles (e.g., part of a tree canopy) and altering the LSS's course to avoid the obstacles. The system is also capable of transmitting ground (or water) position data to the aircraft pilot and crew.

[0072] Additional LSS sensors can be, for example: a strain sensor for measuring the load on the support member 510, a rotary encoder or a speed sensor 1210, which can be incremental or absolute, and a presence sensor 1170 with a shutdown pin.

[0073] The LSS may utilize remote position sensors or tracking units, remote computing units, or target node transceiver devices to better characterize the motion of the load-carrying device (e.g., a helicopter), the LSS, and the suspended load, as well as a target location of interest, such as a person to be rescued or a load target.

[0074] The LSS processor 1010 applies algorithms to received sensor system data to output a desired system response. For example, the GPS sensor can be refined using real-time kinetic (RTK) algorithms to refine the absolute position. The measurements are fused using nonlinear data fusion techniques, such as the Kalman filtration method, to obtain optimal state estimates in all degrees of freedom to accurately characterize the system's position and motion in geodetic space.

[0075] Fig. 15 illustrates a schematic representation 1500 of the operating components of a suspended load stabilization system 410, including a remote interface 1550, according to one embodiment. Within the LSS system 410 is a sensor assembly 1505, which may include position sensors 1506, orientation sensors 1507, inertial sensors 1508, proximity sensors 1509, reference position sensors 1510, and thrust sensors 1511. The LSS processing capability 1520 includes the processor 1010 and microcontroller. LSS memory 1525 generally includes random access memory ("RAM") and a permanent non-volatile mass storage device, such as a solid-state drive, and contains navigation systems 1526, target data 1527, and mode information 1528. Communication systems 1530 include wireless systems 1531 such as wireless transceivers 1020 and wired systems 1532.The LSS output 1515 includes the thrust control 1516 via the thruster controls 930. The power management systems 1540 regulate and distribute the power supply, e.g., from the batteries 910. A data bus connects the various internal systems and logical components of the LSS.

[0076] An interactive display or remote interface 1550 is a computing unit that may be self-powered or permanently connected to a support device. The interactive display 1550 receives data from the LSS, e.g., wirelessly. The data from the LSS is displayed on the interactive display 1550; the computational data is parsed and converted into visual cues. The interactive display also communicates the operator's desired command states to the LSS, as discussed below.

[0077] The interactive display or remote interface 1550 is connected to the LSS 410 via the communication systems 1570, which may be wireless 1571 or wired 1572. The output 1560 of the remote interface 1550 may include information displayed on a screen 1561 and audio cues 1562. The input 1565 at the remote interface 1550 for controlling the LSS may include commands via a touchscreen 1566 or a joystick 1567. In various embodiments, the remote interface 1550 may include one or more physical and / or logical devices that together provide the functionalities described herein.

[0078] Aspects of the system may be embodied in a specialized or special-purpose computing device or data processor that is specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions detailed herein. Aspects of the system may also be practiced in distributed computing environments in which tasks or modules are performed by remote processing devices connected via a communications network such as a local area network (LAN), a wide area network (WAN), or the Internet. In a distributed computing environment, the modules may be located in both local and remote storage media. As in Fig. 15, the load stabilization system 410 and the remote display interface 1550 are connected via a wired or wireless network.

[0079] Fig. Figure 16 illustrates a perspective view 1600 of a remote position unit or target node of a suspended load stabilization system according to one embodiment. The remote position unit or target node includes an external sensor unit or locator unit configured to wirelessly communicate with the LSS as a position reference. When the LSS is considered the primary sensor unit, a secondary sensor unit may be the support device from which the rope is suspended, and a tertiary sensor unit may be a position of interest for the load (e.g., for positioning to pick up or drop off the load).

[0080] A remote positioning unit may include a position transceiver configured to communicate with the LSS via its wireless transceiver 1020 and provide a position reference. For example, a remote positioning unit may be attached to a helicopter or crane under which the load hangs.

[0081] In some embodiments, the remote positioning unit or targeting node is a black box made of durable polymer or plastic, large enough to fit in one hand, 1610. The box 1610 has an external antenna on the side or top of the box, 1620. The remote positioning unit may be attached to the helicopter, for example, by magnets, bolts, or some other attachment mechanism. The targeting node may be dropped to a location on the ground or attached to, for example, a lifebuoy or other buoyant device, a rescue device, a load to be picked up, a location for a load to be delivered, or a location specific to the operation.

[0082] Fig. Figure 17 illustrates a perspective view 1700 of a charging station for a suspended load stabilization system according to one embodiment. In some embodiments, the LSS may be stored and charged in a charging station at a stationary location or onboard an airframe for easy and convenient handling. The charging station 1710 may be powered by available energy sources, such as power onboard an aircraft such as a helicopter, or by generator power.

[0083] The charging station 1710 is a dockable station, meaning the LSS can be connected and placed within the charging station 1710 itself. In some embodiments, the docking station has two arms 1720, one on each side of the system. The LSS may be placed between the arms and locked via a latching mechanism. When appropriately placed, the LSS electrical contacts placed on the system frame are brought into contact with the electrical contacts within the charging station; whereby electrical charging of the LSS automatically begins. The LSS can be unlocked by pressing a button on the side of the charging station, 1740.

[0084] To indicate the charging status to the user, the charging system has a lamp that indicates the charging status, 1730. A power switch, 1750, is located on top of the charging station for operational use. Meanwhile, the operator can also turn the charging station on and off and view the charging status via portable interactive displays 1550.

[0085] Fig. 18 is a flowchart 1800 of the operation of a load stabilization system having multiple modes (also called command states) according to one embodiment.

[0086] In Block 1805, the load stabilization system is installed on the cable from which the load is suspended. The system does not require power for installation.

[0087] In block 1810, the LSS is started. In some embodiments, the system may be initialized by pressing a button on the front of the LSS's center module. Near the easily accessible external button used to initialize the system, there may be another button that, when pressed, allows the system to be immediately shut down. In addition to the initialization interface on the center module, the system may also be initialized by an operator who is not directly at the system. One or more external operators, including but not limited to a rescuer at the end of the rope, may initialize the system by pressing a button on one or more interactive displays 1550 wirelessly connected to the LSS.

[0088] In block 1815, the LSS is activated and proceeds to operation 1820 in one of the operator-selected LSS functional modes (also called command states). The system's functional modes / command states are: Idle mode 1821: All internal systems of the LSS are working (e.g. the LSS is monitoring its movement and calculating corrective actions), but the thrusters are switched off or only maintain an idle speed, with no actions affecting the movement of the load.

[0089] Mode 1822 for maintaining the relative position to the respective carrying device, e.g. a helicopter or a crane: The LSS is stabilized with respect to the starting point of the suspension. For example, if the LSS is suspended with a load below a helicopter, the LSS remains directly below the helicopter. The LSS localizes the movement of the respective carrying device, e.g. the helicopter, and takes the necessary corrective measures to dampen unwanted movements of the suspended load. If the carrying device is moving at a low speed, the LSS couples the speed so that the two units move in sync. In the event of a disturbance in the load, the LSS provides a thrust in the direction of the disturbance to counteract the disturbance and eliminate or at least dampen unwanted movements such as sway and rotation.

[0090] Mode 1823: Move to / Stop at a Position: The LSS stabilizes in a fixed position, thus counteracting the influence of weather or minor movements of the helicopter or other support device to which the load is suspended. This mode prevents any movement. The operator can send the desired target position to the LSS via the 1550 remote interface. This can be achieved in at least two ways: Target Node Position 1824: The operator can position a remote LSS position unit or a target node 1610 at the desired lowering position (e.g., position 160 in Fig. 1). The target node 1610 communicates wirelessly with the LSS to indicate the desired position, and the LSS then maneuvers to the desired location. The remote interface 1550 UI receives and displays the location information from both units.

[0091] User-specified position 1825: The operator can use the 1550 UI remote interface to send a specific position (e.g., latitude and longitude coordinates, orientation) to the LSS as a commanded location. The system then smoothly guides the suspended load to the desired position and orientation. The system simultaneously sends feedback with the position and distance data to the 1550 UI remote interface.

[0092] Position and / or Orientation Hold Mode 1826: The LSS resists any movement and maintains its current (absolute) position and orientation, regardless of the movement of the carrier. This mode prevents any movement. This mode has conditional responses based on the speed of the carrier, safety factors, and physical limitations.

[0093] Direct Control Mode 1827: Joystick operation of the LSS in three degrees of freedom. The operator can directly control positioning, rotation, and the thruster output level. Although the LSS is fully enclosed and requires no external control during operation, there is an option for user control.

[0094] In block 1830, the operator completes the process.

[0095] In block 1835, the system can be shut down by pressing a button on the interactive display or by pressing the button on the center module itself. If the LSS includes folding drive arms, these can be folded up. The load is removed from the load hook 630, and then the hanging cable is released from the lifting ring 520 on top of the LSS. The LSS can then be stowed in its loading unit or in any suitable location.

[0096] Fig. Figure 19 is a flowchart of a decision and control flow 1900 of a load stabilization system according to one embodiment. The LSS operates in a closed-loop control system to understand its motion, position, and orientation in near real time, performs a series of calculations to determine the desired system response, and then sends the desired response to the thruster assembly of the air propulsion system to reduce unwanted sway and / or rotation of the cable during operation. This process is continuous as long as the system is powered.

[0097] The top level of the flowchart begins at block 1905 with data collection using various sensors, including (but not limited to) accelerometers, gyroscopes, magnetometers, GPS, lidar / radar, machine vision, and / or rangefinders.

[0098] In block 1910, the LSS combines data from the sensors to obtain a data fusion that describes its position, orientation, movement, and environment.

[0099] The sensor data is fused and filtered by the LSS using nonlinear variants of the Kalman filter to obtain an accurate representation of the system state. Conventional closed-loop control schemes, including fuzzy proportional, integral, and derivative feedback controls, have bidirectional communication with advanced control schemes, including deep learning neural networks and future-proposed Kalman filters, enabling further real-time system identification.

[0100] In block 1915, the LSS performs state estimation using nonlinear state estimators to predict short-term future movements based on data fusion and feedback from the decision and control engine to the state estimator.

[0101] In block 1920, the LSS decision and control engine receives the state estimate 1915 and the user-selected functional mode 1920. It also receives feedback from a thrust and orientation map 1930 and a control output 1940 and decides how the LSS should move or exert force. It itself provides feedback to the state estimate 1915.

[0102] The system's algorithmic output is sent to motion controllers, where the desired thrust behavior is sent to the electric impellers via phase control. The net thrust output is mapped in real time by encoders and load cells and then sent back to the host and controllers for closed-loop control.

[0103] In block 1930, the LSS thrust and orientation mapping applies the LSS decision 1920 about how the LSS should move or apply force to determine a thrust and an orientation to apply the thrust to the movement or force application according to the decision.

[0104] In block 1935, a propeller mapping module applies the determined thrust and orientation to apply the thrust to generate a propeller mapping for controlling the thrust generators 1210 to achieve the determined thrust and orientation of the LSS.

[0105] In block 1940, the LSS thrusters 1210 apply the commanded control output and implement a dynamic response in the form of thrust to counteract unwanted motions.

[0106] The process steps illustrated by the blocks can be implemented using appropriate (software) modules. The entire process is unmanned and automated, except for the high-level functional control modes selected by the operator. The net output is a control force to stabilize the suspended load.

[0107] Status indicator lights can be mounted on various surfaces of the LSS to support visibility and operation of the LSS from above and below. For example, the LSS can be equipped with external lighting, such as LEDs near the thrusters, that identify the edges and orientation of the LSS. This allows for improved identification in difficult visibility conditions, such as inclement weather. During operation, the LED indicators on both the interactive display and the system body itself indicate that the system is active and convey useful information.

[0108] Fig. 20A is a perspective view 2000 of an upper lifting ring 520 with external status indicator lights of a suspended load stabilization system according to one embodiment, and Fig. Figure 20B is a top view 2050 of the status indicator lights of a suspended load stabilization system according to one embodiment. Illuminated status indicators on the LSS housing and around the lifting ring 520 may display various types of information usable by an operator of the LSS.

[0109] In some embodiments, a display of status indicator lights may indicate the integrity of the LSS signal reception. The LSS processor 1010 measures signal strength and changes the colors of the lights based on predetermined thresholds to indicate such strength.

[0110] Another status indicator may show the direction and amount of thrust the system is exhibiting. In some embodiments, the arrows 2010 are colored LEDs, with the innermost outward-facing arrow being green, the next yellow, the third orange, and the outermost arrow being red. The LSS may illuminate the arrow indicators 2010 to indicate the direction the system is attempting to move the load and use the arrow color hierarchy to represent the system output. For example, a green indicator 2010 may indicate a system output level of 5-25%, yellow may indicate 25-50%, orange 50-75%, and red 75-100%. A high output level also gives a load-handling operator, such as a crane operator or pilot, the option to move in the direction indicated by the arrows 2010 to reduce system power and maintain the desired load positioning.

[0111] The 2020 concentric LED rings can also include colors, such as a green inner ring, an orange center ring, and a red outer ring. The 2020 LED rings can indicate the height of the load above the ground. For example, the green ring can indicate a height greater than 25 feet above the ground, the orange ring can indicate a height between 25 feet and 10 feet above the ground, and the red ring can indicate a height less than 10 feet above the ground.

[0112] In various embodiments, external LSS status indicator lights may be configured to indicate one or more positions of the LSS, an orientation of the LSS, a distance from obstacles, a height above the ground, a signal quality of the wireless transceiver, a functional mode of the LSS processor, an inertial behavior of the load, an energy capacity or available power of the power supply, a workload or power consumption of the thrusters, the thrust of each thruster, a movement or thrust direction of the LSS, and a recommended direction for an operator to maneuver the support device from which the load is suspended.

[0113] Fig. 21 illustrates a screenshot 2100 of a control interface for a suspended load stabilization system according to one embodiment. The interactive display 1550 is a computing device in wireless communication with the LSS having a screen displaying indicators of the current state of the system and controls for the system. For example, the illustrated screenshot includes a thrust-over-time graph 2110 for each thruster 1210, an energy capacity display 2120, and indicators for the current impeller thrust 2130. In various embodiments, the interactive display 1550 also displays the position of the LSS system relative to the position and orientation of the support device from which the load is suspended and / or the target node.The 1550 Interactive Display also provides load condition feedback in the form of visual (and, where appropriate, audible) indicators that describe the load's inertial behavior, recommended actions, and system workload in real time.

[0114] In various embodiments, the interactive display 1550 includes various buttons that display and select different functional modes or command states of the system, as described above with reference to Fig. 18. If the operator is not within reach of the LSS, the operator can also initialize the LSS via the interactive display 1550. The control interface 2100 also includes an emergency shutdown mechanism 2140 in the form of a bright red "OFF" switch.

[0115] Fig.Figure 22 illustrates a graph 2200 depicting the motion of a swinging load 2230 and the motion of a load stabilized by a suspended load stabilization system 2240. On the Y-axis, the graph represents the angular position (in degrees) of a load 2210, in this case a lifeguard swinging beneath a helicopter. On the X-axis, the graph represents the elapsed time (in seconds) 2220 from an initial 30-degree swing, an exceptionally large disturbance caused by turbulent winds while a 100 kg lifeguard in full gear is being lowered onto a boat. Such a large swing from the vertical axis is a particularly dangerous situation for the swimmer, the lifeguard crew, and those in need of assistance on the boat.

[0116] Without the LSS, the pilot would gradually regain control of the suspended 2230 float, but would continue to swing for an extended period and could eventually clip or hit the boat's railing and fall to the deck. In contrast, with the LSS, the float is quickly returned to a stationary vertical position beneath the support device. The LSS dampens the 30-degree swing to less than one degree in less than ten seconds. Integrating the LSS into such an operation reduces the helicopter's hover time and allows the crew chief to safely lower the float onto the boat, ultimately reducing the risk and duration of the operation.

[0117] The load stabilization systems described herein control the movement of an external load attached to a cable via a dynamic air drive to prevent undesirable movements such as sway and rotation. The LSS is agnostic to the type of suspension device from which it is suspended. It characterizes the necessary flight dynamics to perform corrective actions on suspended loads of all types. It can be adapted to external loads, hoist loads, and rescue lifts, among many other applications that can benefit from a self-contained, self-powered, enclosed stabilization system that counteracts the pendulum sway of any suspended load.

[0118] Although specific embodiments have been illustrated and described herein, it will be apparent to one of ordinary skill in the art that alternative and / or equivalent implementations may be substituted for the specific embodiments illustrated and described without departing from the scope of the present disclosure. For example, although various embodiments have been described above with respect to a helicopter, in other embodiments, an LSS may be deployed, for example, beneath a construction crane or gantry crane. This application is intended to cover any adaptations or variations of the embodiments discussed herein, provided they fall within the scope of the following claims. LIST OF REFERENCE SYMBOLS 100 schematic representation 110 Load stabilization system for hanging loads 120 rope 130 suspension point 140 helicopters 150 swinging movement 160 desired point or place of interest 200 isometric view 210 Box-shaped housing 250 front view 260 Load stabilization system for suspended loads with hexagonal center module 300 perspective sectional view 310 Load stabilization system for hanging loads 400 perspective view 410 Load stabilization system for hanging loads 420 aerodynamic housing 450 front view 475 side view 500 View of the support component 510 support component 520 Lifting Ring 530 pivot bearing 540 fasteners 600 perspective view of the carrier sleeve 610 carrier sleeve 630 load hooks 635 adapter plate 640 shackles 645 Shackle bracket 650 perspective view of the carrier sleeve 660 carrier sleeve 670 protruding I-beams 700 page view 750 side view 800 perspective view 810 structural frame 820 oval profile ribs 825 horizontal beams 830 thruster mounting ribs 840 attachment points of the thruster attachment mechanism 850 battery compartment 900 perspective view 910 battery 920 auxiliary battery 930 thruster control 1000 perspective view 1010 processor 1020 wireless transceiver 1030 Vector Navigation Unit 1100 perspective view 1110 center module 1150 front view 1160 center module 1170 Emergency shutdown pin 1200 perspective view 1210 thrust generators 1225 perspective view 1230 Two-thruster drive arm 1250 perspective view 1260 Two-thruster drive arm 1275 isometric view 1280 Two-thruster drive arm 1300 perspective view 1320 Thrust generator connection mechanism 1350 front view 1375 side view 1400 perspective view 1410 Optical Sensor 1420 LIDAR system 1430 GPS sensors 1500 schematic representation 1505 Sensor arrangement 1506 position sensors 1507 alignment sensors 1508 inertial sensors 1509 proximity sensors 1510 reference position sensors 1511 thrust sensors 1515 LSS output 1516 Thrust control 1520 LSS processing capacity 1525 LSS storage 1526 navigation systems 1527 target data 1528 Mode information 1530 communication systems 1531 wireless systems 1532 wired systems 1540 energy management systems 1550 remote interface 1560 Remote interface output 1561 screen 1562 acoustic signals 1565 Input to the remote interface 1566 touchscreen 1567 Joystick 1570 communication systems 1571 wireless communication 1572 wired communication 1600 perspective view 1610 remote position unit or destination node 1620 external antenna 1700 perspective view 1710 charging station 1720 arms 1730 Light to indicate the charging status 1740 release button 1750 power switch 1800 flowchart 1805 Install LSS on the rope 1810 LSS start 1815 Activate LSS 1820 LSS functional modes or command states 1821 Idle mode 1822 Mode for maintaining the relative position to the respective carrying device 1823 Mode to move to / stop at position 1824 Target node position 1825 user-defined position 1826 Position or orientation hold mode 1827 Direct control mode 1830 Complete operation and recover LSS 1835 Shut down system 1900 Decision and control process 1905 Data collection 1910 Data fusion 1915 condition assessment 1920 Decision and control machine 1930 Thrust and alignment mapping 1935 Propeller Mapping 1940 Control 2010 arrow indicators 2000 perspective view 2020 LED rings 2050 top view 2100 Screenshot of the control interface 2110 Graph of thrust over time 2120 Energy capacity display 2130 Displays for the current propeller thrust 2140 Emergency shutdown mechanism 2200 diagram 2210 angular position 2220 elapsed time 2230 Movement of the swinging load 2240 Movement of the stabilized load QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] US 8,938,325 B1 [0004, 0007] US 62 / 627,920

[0045]

Claims

[1] Load stabilization system (110, 210, 260, 310, 410) for stabilizing a load suspended from a cable (120), comprising: - at least one attachment point for the rope (520), - at least one attachment point for the load (540, 600, 630, 650), - at least one thruster mounting structure (200, 250, 300, 400, 800, 1300), - at least one power supply (910), - at least one sensor arrangement, - a thruster control (930), - two or more thrusters (1210) connected to the thruster mounting structure (200) and controlled by the thruster control (930), and - a processor (1010) operatively connected to the sensor arrangement (410) and the thrust generator control (930), - where the processor is configured to: -- to determine a data fusion comprising a representation of a state of the load stabilization system, wherein, for determining the data fusion, the processor is configured to fuse sensor data from the sensor arrangement in a filter, in particular a non-linear filter, -- predict short-term future movement based on data fusion and feedback from at least one of a user-selected functional mode and thrust and orientation mapping (1930), -- to determine how the load stabilization system should move or exert force in the operating mode selected by the user, and -- to apply appropriate thrust by controlling the thrust generators (1940). [2] Load stabilization system according to claim 1, wherein the filter comprises a non-linear variant of a Kalman filter. [3] Load stabilization system according to one of claims 1 or 2, wherein the operating mode selected by the user comprises at least one of the following modes: an idle mode, a relative position maintaining mode, a target moving mode, an absolute position holding mode, and a direct user control mode. [4] Load stabilization system according to one of claims 1 to 3, wherein the at least one sensor arrangement comprises at least one of an inertial measuring system (1508), an orientation measuring system (1507) and a measuring system (1506) for determining an absolute position. [5] Load stabilization system according to claim 4, - wherein the inertial measurement system comprises at least one accelerometer or a gyroscope (1508), and / or - wherein the orientation measuring system comprises at least one magnetometer or one compass (1507), and / or - wherein the measuring system for determining the absolute position comprises at least one GPS sensor (1506). [6] Load stabilization system according to one of claims 1 to 5, further comprising at least one tensile support member (510), wherein the tensile support member connects the at least one attachment point for the cable (520) and the at least one attachment point for the load (630). [7] The load stabilization system of claim 6, wherein the thruster mounting structure is connected to the at least one tensile support member (510). [8] Load stabilization system according to claim 6 or 7, further comprising a center module (1110), wherein the center module comprises at least one of the at least one attachment point for the cable (520), the at least one attachment point for the load (630) and the tensile support member (510). [9] A load stabilization system according to any one of claims 1 to 8, further comprising a remote position unit (1610) located at a position that is fixed with respect to the position at which the rope is suspended or a target position. [10] Load stabilization system according to one of claims 1 to 9, further comprising a wireless transceiver (1020). [11] The load stabilization system of claim 9 and claim 10, wherein the remote position unit comprises a position transceiver configured to communicate with the wireless transceiver (1020) and provide a position reference for the system. [12] Load stabilization system according to one of claims 1 to 11, further comprising an interactive remote display, in particular an interactive remote display comprising a display processor, a screen (1561), an input device (1565) and a display transceiver (1570), in particular a display transceiver (1570) configured to communicate with a wireless transceiver according to claim 10, [13] The load stabilization system of claim 12, wherein the interactive remote display is configured for at least one of the following: - wireless reception of data from the load stabilization system via a wireless transceiver, - displaying, via the screen, indicators of one or more of a position of the system, an orientation of the system, a distance from obstacles, a height above the ground, a signal quality of the wireless transceiver, a mode of the processor, an inertial behavior of the load, an energy capacity and / or available power of the power supply, a workload and / or power consumption of the thrusters, the thrust of each thruster, a movement and / or thrust direction of the system, and a recommendation to an operator regarding a direction for maneuvering a support device from which the load is suspended (2100), and - Providing user control, via the input device, for setting one or more of the user-selected functional mode, a target position for the load stabilization system, and activation of an emergency shutdown (2140) of the load stabilization system. [14] A non-transitory computer-readable storage medium (1525) having instructions stored thereon which, when executed by a processor (1010) of a load stabilization system, result in a decision and control sequence (1900) of the load stabilization system, comprising: - Acquiring (1905) sensor data from a sensor array of the load stabilization system, - fusing (1910) the sensor data in a filter, in particular a non-linear filter, to thereby determine a data fusion comprising a representation of a state of the load stabilization system, - Predicting a short-term future movement based on data fusion with feedback from at least one of a user-selected functional mode and a thrust and orientation mapping of the load stabilization system (1920, 1930), - to determine how the load stabilization system should move or exert force in the functional mode selected by the user (1920, 1930), and - to apply appropriate thrust by controlling several thrust generators of the load stabilization system (1940). [15] The non-transitory computer-readable storage medium of claim 14, wherein the filter comprises a non-linear variant of a Kalman filter (1910). [16] The non-transitory computer-readable storage medium of claim 14 or 15, wherein the user-selected functional mode comprises at least one of the following modes: an idle mode, a relative position maintaining mode, a move to a destination mode, an absolute position holding mode, and a direct user control mode. [17] The non-transitory computer-readable storage medium of any one of claims 14 to 16, wherein the sensor arrangement comprises at least one of an inertial measurement system (1508), an orientation measurement system (1507), and an absolute position measurement system (1506). [18] Non-transitory computer-readable storage medium according to claim 17, - wherein the inertial measurement system comprises at least one accelerometer or a gyroscope (1508), and / or - wherein the orientation measuring system comprises at least one magnetometer or one compass (1507), and / or - wherein the measuring system for determining the absolute position comprises at least one GPS sensor (1506). [19] A non-transitory computer-readable storage medium according to any one of claims 14 to 18, wherein the load stabilization system is for stabilizing a load suspended from a cable (100). [20] The non-transitory computer-readable storage medium of claim 19, wherein the load stabilization system comprises at least one attachment point for the rope and at least one attachment point for the load (110). [21] The non-transitory computer-readable storage medium of claim 20, wherein the load stabilization system comprises a tensile support member (510), the tensile support member connecting the at least one attachment point for the cable (520) and the at least one attachment point for the load (630). [22] The non-transitory computer-readable storage medium of claim 21, wherein the load stabilization system comprises a thruster mounting structure (200), the thruster mounting structure being connected to the tensile support member (510). [23] The non-transitory computer-readable storage medium of any one of claims 19 to 22, wherein the load stabilization system further comprises a center module (1110), the center module comprising at least one of the at least one attachment point for the cable (520), the at least one attachment point for the load (630), and the tensile support member (510). [24] The non-transitory computer-readable storage medium of any one of claims 14 to 23, wherein the load stabilization system further comprises a remote position unit (1610) located at a position that is fixed with respect to the position at which the rope is suspended or a target position. [25] The non-transitory computer-readable storage medium of any of claims 14 to 24, wherein the load stabilization system further comprises a wireless transceiver (1020). [26] The non-transitory computer-readable storage medium of claim 24 and claim 25, wherein the remote position unit comprises a position transceiver configured to communicate with the wireless transceiver (1020) and provide a position reference for the system. [27] The non-transitory computer-readable storage medium of any one of claims 14 to 26, wherein the instructions further cause the load stabilization system to display, via an interactive remote display, indicators of at least one of: a position of the load stabilization system, an orientation of the load stabilization system, a distance from obstacles, a height above the ground, a signal quality of a wireless transceiver, the user-selected functional mode, an inertial behavior of the load, an energy capacity and / or available power of the power supply, a workload and / or power consumption of the thrusters, the thrust of each thruster, a movement and / or thrust direction of the system, and a recommended direction for an operator to maneuver a support device from which the load is suspended.

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