LOAD CONTROL SYSTEM, LOAD CONTROL METHOD, AND LOAD CONTROL DEVICE

Abstract

To provide a suspended load control device capable of controlling a yaw, lateral motion, and swing motion by applying torque or horizontal force to a suspended load.SOLUTION: A load control device is provided on a terminal part of a main load bearing line from a carrier or in the vicinity thereof. A memory determines at least any one of tension of a winch control line, the position, direction, and motion of a load based on sensor data from a sensor group and includes a control module for controlling the tension of the winch control line between the load and the load control system. The tension of the winch control line between the load and the load control system allows the thrust of a thruster of the load control system to control the load unlike the tension of a main load supporting line from the carrier. The control module controls the thruster to output the thrust. The thrust and the tension of the winch control line affect at least any one of the position, direction, and motion of the load.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is a nonprovisional application of U.S. Provisional Patent Application No. 62 / 940,155, filed November 25, 2019, entitled “SUSPENDED LOAD CONTROL CRANE HOOK APPARATUS, SYSTEM, AND METHOD,” which claims and incorporates by reference the benefit thereof, and is a continuation-in-part of, and claims the benefit of, U.S. Patent Application No. 16 / 988,373, filed August 7, 2020, entitled “SUSPENDED LOAD STABILITY SYSTEMS AND METHODS.” This application is a continuation of Patent Cooperation Treaty Application No. PCT / US19 / 13603, filed January 15, 2019, which is a continuation of U.S. Provisional Patent Application No. 62 / 627,920, filed February 8, 2018, and entitled "SUSPENDED LOAD STABILITY SYSTEM THROUGH SELF POWERED AUTOMATED ELECTRIC DUCT FAN CONTROL," which incorporates by reference U.S. Provisional Patent Application No. 62 / 757,414, entitled "LOAD STABILITY SYSTEM FOR SUSPENDED LOAD CHAOTIC MOTION," filed November 8, 2018.

[0002] The present disclosure relates to improved apparatus, systems, and methods for controlling a load suspended from a suspension cable by a hook provided below a carrier. [Background technology]

[0003] People and / or equipment ("load") may be transported to or from a location as a load suspended by cables from a helicopter, crane, airplane, or other carrier using a hoist system. Cranes, helicopters, and airplanes (including fixed-wing aircraft) may be collectively referred to herein as "carriers, etc." Carriers, etc. connected to the ground or other platforms (such as platforms floating on water), such as cranes, may be referred to herein as "platform-type carriers, etc." Carriers other than platform-type carriers, etc., such as helicopters and airplanes (such as fixed-wing), may be referred to herein as "flying-type carriers, etc." Summary of the Invention

[0004] A hook or similar structure may be provided at the bottom of the suspension cable, and the load may be secured to the hook. The hook may transmit a lifting force between the carrier and the load. The hook may include or be part of an assembly that includes a block (hook block), which may withstand impacts and protect the hook from contact with the environment.

[0005] During operations in which a load is transported by the carrier, the load may be exposed to wind, interaction with the suspension cables, and other external and internal factors that may cause the load to move in an unstable, undesirable or dangerous manner. To address such conditions, and to otherwise control the load, the operator of the carrier may wish to use equipment to provide load control, for example at a distance from the carrier (e.g., using a remotely powered fan). Other systems have been developed to control loads under platform carriers by changing the orientation of a rotating gyroscope or flywheel, but these systems may use different types of control systems, may be able to output torque but not horizontal thrust, and may be unsuitable for use on flying carriers due to their weight.

[0006] In hoist and sling operations, it may be desirable to suspend directly from the hook, rather than from the load control device, since the hook is likely to be much stronger, have fewer parts and be single purpose. For example, as mentioned above, the hook may transmit a lifting force between the carrier and the load, which may be very large. In contrast, the device for controlling the load may include many components, e.g., fans, increasing the possibility of damage or failure. An operator of the carrier or the like may be reluctant or unable to suspend the load directly from the load control device and may therefore prefer or be required to continue suspending the load from the hook and / or block.

[0007] Additionally, in hoisting and slinging operations, the suspension cable is often a braided steel cable or similar. Whether braided or not, it is desirable to avoid applying torque to the suspension cable as this can cause the cable to reel in, reel out, twist, weaken, break, or not reel properly onto the winch.

[0008] In hoist and sling operations, the motion of the load can include vertical (up and down) movement along the Y axis (referred to in this document as "vertical movement"), horizontal movement along either or both the X and Z axes, and rotation or "yaw" about the Y axis. Horizontal movement can appear as side-to-side movement, or, in the case of both the X and Z axes, as a conical swinging motion of the load ("pendulum motion") with the pendulum pivoting where the cable is fastened to the carrier. Pendulum motion usually also has a vertical (plumb) component of movement. Roll (rotation about the X-axis) and pitch (rotation about the Y-axis) also occur, but when a load is suspended by a cable in the absence of buoyancy, vertical, horizontal, pendulum, and yaw motions are the predominant motions. Vertical and horizontal translational motions can be caused by movements of the suspension cable, such as carrier movement, load movement, momentum differences between the load and carrier, wind impacts including propeller wash, cable extension and retraction from the hoist, and external forces. Note that in this specification, axis is relative to the normal axis of the load, the normal axis of the carrier, and the normal axis of the gravitational field.

[0009] Yaw, roll, and rotational motions can complicate and delay lifting operations and can lead to the deaths of flight crew, crane operators, and people on the ground. Yaw, roll, and swing motions can also interfere with the delivery of loads to and from a location. For example, ground crews may be unable to access a load if it is undergoing a pendulum or yaw, or operators of platform type carriers or the like may be unable to fully lower a load to a desired destination if it is undergoing a pendulum or yaw. For example, delivery of a load to a ship's deck or work site can be significantly complicated by the pendulum or yaw of the load, even if the deck or work site is stable and not undergoing heave, roll, or pitch.

[0010] As the load is attracted to the carrier and the suspension cables shorten, one or more components of the undesirable load motion may accelerate or become more pronounced, and the horizontal and swinging motions of the load may interact with the carrier, causing dangerous recoil and synchronous motions of the carrier. [Problem to be solved by the invention]

[0011] Therefore, there is a need for a device that provides control of a suspended load, such as applying a torque or horizontal force to the load to control yaw, lateral, and sway motion. The device that provides control of a suspended load can be in conjunction with a hook and / or a block. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 shows a carrier, a carrier hook, and a load control system (hereinafter referred to as "SLCS") according to an embodiment. [Diagram 2] FIG. 2 is a partially exploded view of the carrier hook and SLCS of FIG. 1 according to an embodiment. [Diagram 3] FIG. 3 is a portion of the carrier hook and SLCS of FIG. 1 according to an embodiment. [Figure 4] FIG. 4 is an exploded perspective view showing a portion of the carrier hook and the SLCS of FIG. 1 according to an embodiment. [Figure 5A-5B] Fig. 5A is a detailed view of a winch bracket according to an embodiment, and Fig. 5B is a detailed view showing a part of the winch bracket, winch, and fan unit according to an embodiment. [Figure 6] FIG. 6 is a detailed view of the winch and control lines according to an embodiment. [Figure 7A-7B] Figure 7A shows a fan unit bracket according to an embodiment, and Figure 7B shows details of a control system rotary joint, a fan unit bracket, a fan unit, and an electronics box according to an embodiment. [Figure 8] FIG. 8 shows a fan unit bracket and an electronics box according to the embodiment. [Figure 9A-9B] Figure 9A is a fan unit according to an embodiment; Figure 9B is the fan unit of Figure 9A with a vertical cross section through the centerline according to an embodiment; [Figure 10] FIG. 10 is an elevational vertical cross-section of the fan unit of FIG. 9A according to an embodiment. [Figure 11]FIG. 11 is a top view showing a carrier hook and an SLCS according to an embodiment. [Figure 12] FIG. 12 illustrates a carrier hook, SLCS, and remote pendant according to an embodiment. [Figures 13A-13C] 13A, 13B, and 13C are rear, perspective, and front elevational views of a remote pendant according to an embodiment. [Figure 14] FIG. 14 is a schematic diagram illustrating operational components of a load control system including a remote pendant interface in accordance with one embodiment. [Figure 15] FIG. 15 illustrates an operational routine for a load control system including multiple modes or command states according to one embodiment. [Figure 16] FIG. 16 is a diagram showing a determination and control routine of the load control system according to one embodiment. [Figure 17A] FIG. 17A illustrates a graph of the response of a load controlled by a load control system with insufficient tension in the control lines. [Figure 17B] FIG. 17B is a graph showing the responsiveness of a load controlled by a load control system with moderate tension in the control lines. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] Reference will now be made in detail to the description of the embodiments illustrated in the drawings. While the embodiments will be described in conjunction with the drawings and related descriptions, there is no intent to limit the scope to the embodiments disclosed herein. On the contrary, the intent is to cover all alternatives, modifications, and equivalents. In alternative embodiments, additional devices or combinations of the illustrated devices may be added or combined without limiting the scope to the embodiments disclosed herein. For example, the embodiments presented below are primarily described in the context of helicopter slingloading, search and rescue operations, and / or crane operations. However, these embodiments are illustrative and in no way limit the disclosed technology to any particular application or platform. Phrases such as "in one embodiment," "in various embodiments," and "in some embodiments" 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 herein and in the appended claims, the singular forms "a," "an," and "the" include plural references unless the content clearly dictates otherwise. It should also be noted that the term "or" is generally employed in the sense of including "and / or" unless the content clearly dictates otherwise. When elements in the figures are labeled with a number including a letter, instances of the elements are generally similar and groups of such elements may be referred to together or collectively without the letter.

[0014] Platform carrier operators sometimes move loads slowly to minimize the pendulum motion, or use dedicated control cables (to the ground, nearby structures, or between the carrier), but these measures increase the cost, complexity, and risk of failure of the lifting operation. These measures are insufficient and highly problematic.

[0015] In various embodiments, as further described herein, the load control system provides for control of the load independent of the carrier. The load control system or load stability system (collectively referred to as "SLCS") of the present disclosure controls the load by exerting or outputting a force or force vector from thrusters, fans, propellers, flywheels, gyroscopes, etc. at or near the location of the load. Thrusters, fans, propellers, and electric ducted fans may be referred to herein as "EDFs" or "fans." The vector thrust generated by the fans and / or winches may be used to counter yaw and yaw motions. The vector thrust generated by the fans may be used to translate the load horizontally, such as to avoid obstacles or to move the load to an offset position relative to the normal lowest energy suspended position. The vector thrust generated by the fans and winches may be used to control the fine position and rotation of the load independent of the carrier. The vector thrust from the fans may be used to increase the operating speed of the carrier while maintaining safe operating parameters.

[0016] The SLCS of the present disclosure may further be mounted to the hook and / or block. The SLCS may be attached to the hook and / or block via a rotary joint, which includes one or more bearings. The rotary joint allows the SLCS to rotate without applying significant torque to the main load bearing line.

[0017] The SLCS of the present disclosure may further include one or more winches; the winches may be secured to the load with one or more winch control lines. A control module of the SLCS may control the winches to maintain tension in the winch control lines; the control module may further control thrusters of the SLCS to control the load.

[0018] As a result, the SLCS disclosed herein works in conjunction with existing hooks and blocks to increase safety, improve carrier and load handling capabilities, allow carrier operators to do more with their work, and dynamically control the precise position and rotation of the load, thereby reducing damage to the load and surrounding objects. SLCSs can provide benefits to, for example, platform-type carrier and airborne carrier operations.

[0019] SLCS is independent of the platform from which the load is suspended (such as a crane or helicopter "Ownship" characteristics) because it determines its condition and independently tensions the control lines between the winch and the load and / or applies thrust to stabilize and orient the load in the desired direction without applying significant torque to the main load bearing lines. This allows for universal adoption across all types of load platforms, lowering costs and reducing solution risk.

[0020] 1 illustrates one embodiment of a load control carrier hook system and load 100, in which a platform-type carrier 124 supports or repositions a load 130 via a main load bearing line 125 and load bearing connector lines 115A-115E. Although a platform-type carrier 124 is illustrated as an example, a flying-type carrier could also or alternatively be used.

[0021] 1-4, the carrier 124 may support a load 130 by a winch, hoist, or the like, in the carrier 124, a lifting cable (also referred to herein as a "main load bearing line 125"), a head block 145 secured to the main load bearing line 125, a head block hook 150, and one or more load supporting connector lines 115 that secure the load 130 to the head block hook 150. In the example shown in FIG. 1, the load bearing connector line 115A may branch into multiple connector lines 115B-115E (together with the connector line 115, referred to as connector lines or lines 115). The connector line 115 may be secured to the head block hook 150 (see FIG. 2) via one or more load bearing swivel joints 122A, 122B, or 122C that allow the load 130 to rotate, spin, or yaw without reeling in or reeling out the main load bearing line 125. The load bearing rotary joint 122 may be comprised of, for example, a thrust bearing or another bearing set or bearing system. In the embodiment shown in FIG. 1, the SLCS 105 includes four control lines 110A-110D (collectively referred to as control lines 110). A different number of control lines may be used, for example, one, two, three, or more than three control lines. The main load bearing line 125 is often a cable, including a braided cable. Rotation of the main load bearing line 125 about the Y axis may be undesirable. For example, when the braided cable is rotated, it may unwind or may become overwound and twisted, either of which may cause problems ranging from slowing down operations to damage or catastrophic failure of equipment including the main load bearing line, hoists, etc. To address this issue, load bearing rotary joints 122A, 122B, and / or 122C may be located between the load 130 and at least one of the hook 150 and / or head block 145; however, the load bearing rotary joints also allow the load 130 to rotate in an uncontrolled manner, which, as discussed above, may be undesirable.

[0022] The SLCS 105 may be secured to the head block 145, which allows the SLCS 105 to be used in conjunction with a wide range of existing crane equipment. However, when the SLCS 105 applies a force to the load 130, in view of the above, the SLCS 105 should not apply a rotational force or torque to the primary load bearing lines. To address this, the SLCS 105 is secured to the head block 145 at, by, or in association with a control system rotary joint 120 (see FIG. 2). The control system rotary joint 120 may be, for example, a thrust bearing set, a conical roller thrust bearing set, a self-aligning roller thrust bearing set, or the like. The control system rotary joint 120 may not bear or transmit the primary lifting force between the carrier 124 and the load 130, and the control system rotary joint 120 may only bear the weight of the SLCS 105 and the tension in the control lines 110.

[0023] As previously mentioned, the SLCS 105 is secured to the load 130 by one or more control lines 110, which secure a winch 195 (labeled in FIGS. 4, 5A, 5B, and 6) to the load 130. The winch 195 may be used by the SLCS 105 to at least one of: i) detect slack in the control lines 110; and ii) create or maintain tension in the control lines 110. The SLCS 105 may create or maintain tension in the control lines 110 to transfer forces, such as torque, from the SLCS 105 and from one or more fan units 155 of the SLCS 105 to the load 130. Lack of tension in the control lines 110 may significantly impair or delay the ability of the SLCS 105 to react to and control movement of the load 130. Delayed reaction times between the SLCS 105 and the load 130 can significantly impede the ability of the SLCS 105 to transmit forces to the load 130. Thus, maintaining tension in the control lines 110 can impact the ability of the SLCS 105 to control the load 130, power usage by the SLCS 105, battery life of the SLCS 105, and mission objectives.

[0024] To generate the force transmitted to the load 130, the SLCS 105 may use thrust from, for example, the fan units 155. The fan units 155 may be opposed to each other on two or more sides of the SLCS 105. As shown in these examples, each fan unit 155 is comprised of two EDFs generally oriented in opposite directions. The thrust from the EDFs of the fan units 155, as well as the tension of the winch 195 and the control lines 110, may be used to control or affect the load 130 by the operating components of the SLCS 105 described in connection with FIG. 14, the operating routine of the SLCS 105 described in connection with FIG. 15, and the decision and control routine of the SLCS 105 described in connection with FIG. 16. Instead of the fan units 155, the SLCS 105 may be comprised of one or more flywheels, where the acceleration of the flywheels and the change in orientation of the rotating flywheels impart a torque to the SLCS 105, which may be transmitted to the load 130 using the winch 195 and the control lines 110.

[0025] Figure 2 is a partially exploded view of the carrier hook and SLCS 105 of Figure 1, according to an embodiment. In addition to the elements described and illustrated in connection with Figure 1, head block 145, head block hook 150, control system rotary joint 120, fan unit 155A and fan unit 155B, control line load securement (line-load fixture) 140, and load support connector line load securement (line-fixture) 135 are illustrated. A more detailed view of certain of these components is also provided in Figure 4.

[0026] 3 is a diagram illustrating an embodiment of a portion of the carrier hook and SLCS 105 of FIG. 1, according to an embodiment. The elements illustrated and labeled in FIG. 3 are configured as follows: one or more control lines 110A-110D which may extend to the load 130 (in embodiments, a different number of control lines may be used); load bearing connector line(s) 115 (in embodiments, a different number of load bearing connector lines may be used); head block hook 150; head block 145 (which in combination with head block hook 150 may also be referred to as a "carrier hook"); control system rotary joint 120; fan unit 155A and fan unit 155B; fan electronics conduit 170; electronics box (electronics box) 165A and electronics box (electronics box) 165B; main power conduit 180; main power supply conduit 175; and main load bearing line 125. The electronics boxes 165A and 165B may include electronics, computers, and algorithms or modules and other operating components as described in connection with Figures 14-16. The main power conduit 180 may extend to the carrier 124 and provide power, such as electrical power, to the SLCS 105 from a power source within the carrier 124. Additionally or alternatively, the SLCS 105 may include a battery pack to provide some or all of the power to the SLCS 105. In addition to providing power, the main power conduit 180 or another conduit may relay control and / or sensor signals between the SLCS 105 and other sources or destinations of the control and / or sensor signals. As previously described, the main load bearing lines 125 may extend to the carrier 124, such as a hoist for the carrier 124.

[0027] Figure 4 is an exploded detailed view of an embodiment of a portion of the carrier hook and SLCS 105 of Figure 1. The elements shown and labeled comprise: control system rotational coupling 120. Control system rotational coupling 120 supports fan unit 155, electronics box 165, winch brackets 190A and 190B (which may secure winches 195A-195D to fan units 155A and 155B and may hold electronics box 165 (electronics box 165 may be located elsewhere, such as on fan unit 155)); winches 195A-195D. The control system rotary joint 120 allows the SLCS to rotate separately from the head block 145 without imparting significant torque to the head block 145 or the main load bearing lines 125, e.g., only friction at the control system rotary joint 120 transmits torque from the SLCS 105 to the head block 145, and such friction-based torque transmission is relatively insignificant and less than the ability of the main load bearing lines 125 to absorb and resist torque. The control system rotary joint-head block fixture 200 is one or more fixture structures, such as bolts, for fixing the control system rotary joint 120 to the head block 145.

[0028] 5A shows an embodiment of a winch bracket 190 that may secure a winch 195 to the fan unit 155, via the fan unit bracket 185, to the control system rotary joint 120, and thereby to the head block 145. The winch 195 may also be secured to the control system rotary joint 120 via other structure, such as the fan unit bracket 185 and / or another dedicated structure.

[0029] 5B illustrates one embodiment of a winch bracket 190 and winch 195. In combination with the operational components and modules of the load control system discussed in connection with FIGS. 14-16, the winch 195 or data from the winch 195 may be used to sense the amount of strain or tension on one or more control lines 110. The operational components and modules of the load control system discussed in connection with Figures 14-16 may use a winch 195 to draw tension on one or more control lines 110. Sensed tension or lack of tension on the control lines 110 may indicate and / or be caused by desired or undesired movement of the load 130. Tension may be applied on the control lines 110 by the winch 195 to impart a force to the load 130, such a force being transmitted between the winch 195 and, for example, the fan units 155, or transmitted onto the head block 145, such as when the one or more fan units 155 are operating to impart a force, which may cause the center of gravity of the load 130 to shift in a direction relative to the head block 145 and the main load bearing line 125.

[0030] FIG. 6 illustrates an embodiment of a winch bracket 190, a winch 195, and a control line 110 extending from the winch 195. One or more control lines 110 or control line feeder lines may extend from the winch 195. The winch bracket 190 may position the winch 195 distal to the central vertical axis (or Y-axis) of the main load bearing line 125. As previously mentioned, the winch bracket 190 and winch 195 may be symmetrical about the central vertical axis (or Y-axis) of the main load bearing line 125. In embodiments, a greater or lesser number of winches 195 and / or winch brackets 190 may be used. The winch 195 may include one or more tension sensors for sensing tension on the winch 195 from the control line 110. The tension sensors may consist of, for example, position encoders, torque sensors, stain gauges, spring and instrument guides for the control line 110, and the like. The winch 195 may further include a sensor to detect and report the amount of control line 110 paid out to or from the winch 195, or may be incorporated into a tension sensor.

[0031] 7A shows an embodiment of a fan unit bracket 185, which may secure the fan unit 155 to the control system rotary joint 120, for example, via bolts, welds, straps, etc. In an embodiment, other components may be intermediate the fan unit 155 and the control system rotary joint 120.

[0032] FIG. 7B illustrates an embodiment of the control system rotary joint 120 secured to the fan unit bracket 185, the fan unit 155, and the electronics box 165.

[0033] 8 illustrates an embodiment in which the electronics box 165 is secured to the fan unit bracket 185. In this embodiment, the electronics box 165 includes a control system antenna 205. The control system antenna 205 may enable wireless communication, such as with the remote pendant 235 and / or components within the carrier 124, and / or wireless sensors, sensor inputs, or sensor outputs for GPS, LIDAR, RADAR, SONAR, imaging (cameras, visible, infrared, etc.), acoustic (microphone), inertial, gyro sensors, etc.

[0034] In embodiments, electronics box 165 may comprise, for example, a power system, power conditioners, relays, buffers, etc., to provide regulated power to the fan units. In embodiments, electronics box 165 may include a battery. In embodiments, electronics box 165 may include, for example, electronic speed controllers, motor drivers, etc., to control power to the fan units.

[0035] In an embodiment, the electronics box 165 may comprise the operating components (e.g., a computer processor and memory), operating routines, and decision and control routines for the load control system, for example, as described in connection with Figures 14 to 16.

[0036] 9 illustrates an embodiment of a fan unit 155 having: a fan unit outlet cover 210, which may prevent debris from entering the fan unit 155 and may allow air or another thrust fluid to exit the fan unit 155; a fan inlet 220, which may prevent debris from entering the fan unit 155 and may allow air or another thrust fluid to enter the fan unit 155; and a fan 215A and a fan 215B. Fans 215A and 215B may be ducted fans. Fans 215A and 215B may be driven by electric motor(s) that may be in conjunction with a control signal and / or with generation of a control signal, such as electromagnetic frequency (EMF) and / or encoder feedback from an electric motor in fan 215, with electricity derived from a battery pack or the like in electronics box 165 and / or carrier 124 and provided by electronics box 165 via fan electronics conduit 170 to fans 215A and / or 215B.

[0037] 10 illustrates an embodiment of fan unit 155 including fan inlet 220, fan 215A, and fan 215B. Fans 215A and 215B may be oriented 180 degrees opposite each other such that each generates an opposite thrust to the other. Fans 215A and 215B may be oriented other than 180 degrees opposite each other.

[0038] The fan unit 155 may be comprised of a cowl that protects one or more fans. The cowl may be hardened to withstand environmental impact. The cowl unit may be comprised of metal, plastic, composites including fiber reinforced resins, and the like. The fans in the fan unit 155 may be comprised of blades and a motor(s), such as an electric motor. The electric motors in the fans may be sealed against dust, sand, water, and debris.

[0039] The fans of each fan unit propel a thrust fluid (such as air) in a fixed direction, e.g., fixed directions opposite one another; e.g., offset by 180 degrees. In other embodiments, a fewer or greater number of fan units and / or fans may be used. In other embodiments, the fan units and / or fans may be aligned other than as shown, e.g., offset by more or less than 180 degrees, with or without offset along other of the axes. Mechanical steering components may be included (not shown) to dynamically reposition the fan units and / or fans within the fan units.

[0040] Individual fans of fan unit 155 can be operated separately with different powers to generate thrust vectoring or thrust vector control of an assembly of fans such as SLCS 105. For example, to generate a clockwise yaw (having a direction relative to FIG. 11), the fan of fan unit 155B can be operated by itself or together with the opposite fan of fan unit 155A to generate torque. To generate a lateral translational force on SLCS 105 and payload 130, fans on the same side of fan units 155A and 155B can be driven. Lateral translation and rotation can occur simultaneously.

[0041] 11 illustrates an embodiment of the SLCS 105 in which thrust vectors 230A-230D may be generated by fan units 155A and 155B. The thrust vectors 230A-230D may be controlled, for example, by operating components of the load control system discussed in FIGS. 14-16 to generate, for example, rotational forces 225 (e.g., yaw forces or torques) or translational forces (e.g., forces along one or both of the X and Z axes), which may be transmitted between the SLCS 105 and the load 130 by one or more of the control lines 110. Lifting and translational forces from the carrier 124 may be transmitted to the load by one or more load bearing connector lines 115.

[0042] 12 illustrates an embodiment of the SLCS and load 100 in wireless communication with a remote pendant 235. The remote pendant 235 can provide and / or relay control signals and / or sensor information between the SLCS 105, the remote pendant 235, a user, or other sources or destinations, such as systems within a carrier. The other sources or destinations may be in wireless or wired communication with one or both of the SLCS 105 and the remote pendant 235.

[0043] FIG. 13A illustrates, for example, an embodiment of a remote pendant 235 that comprises a start controller 240. FIG. 13B illustrates another view of an embodiment of the remote pendant 235. FIG. 13C illustrates, for example, another view of an embodiment of the remote pendant 235 that includes an on / off switch 245, a state selector 250, and a manual / rotation control 251. The on / off switch 245 may be used to turn on the remote pendant 235. The state selector 250 may be used to select a command state of the SLCS 105, as may be discussed in connection with FIG. 15. The start controller 240 may be used to activate (start) or deactivate (stop) the SLCS 105 in or in relation to the selected command state. The manual / rotation control 251 may be used to manually operate the fan to rotate or translate the payload 130.

[0044] 14 is a schematic diagram illustrating operational components of a lifting load control system ("SLCS") 1400, including a load control system logic component 1401 and a remote interface logic component 1450, according to one embodiment. Included within the load control system logic component 1401 is a sensor suite 1405, which may 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 (used in connection with a fan), a winch sensor 1412 (used in connection with a winch in the SLCS, e.g., to sense winch tension and / or the length of winch control line being paid out or wound onto the winch), and a camera. Some or components of the sensors 1405 may be physically located outside of the electronics box 165, such as at the location where a sensed condition occurs.

[0045] The SLCS processing capability or processor 1420 includes, for example, a computer processor and / or a microcontroller. The SLCS memory 1425 generally consists of a random access memory ("RAM") or a permanent non-transitory mass storage device such as a solid state drive and includes, for example, software or firmware code, instructions, or logic for one or more of the navigation system 1426, target data 1427, mode or command status information 1428, and the operational module 1500 and the load control decision and thrust control module 1600. The communication system 1430 includes a wireless system 1431, such as a wireless transceiver, and a wired system 1432. The SLCS output 1415 includes, for example, thrust control 1416 and tension control 1417, via a power controller and / or ESC. The power management system 1440 regulates and distributes the power supply, for example, from batteries or power from a crane or other carrier. A data bus couples the various internal system and logic components of the load control system logic component 1401.

[0046] An interactive display, interactive control, remote pendant, positioning unit, or target node (all of which may be referred to herein as a "remote interface") may be a computing unit that includes one or more of the remote interface logic components 1450, which may be self-powered or hard-wired to another device, such as an airframe, a carrier, a remote pendant (embodiments of which are shown in FIGS. 13A-13C), a tablet computer, etc. The remote interface logic component 1450 may receive data from and / or transmit data to the SLCS, for example, through wireless or wired conduits and communication systems. Data from the SLCS may be displayed or communicated on or through the display 1461 of the remote interface logic component 1450, and the data may be analyzed and converted into audio, tactile, or visual cues. The remote interface logic component 1450 may also communicate the operator's desired command status and operational instructions to the SLCS, as described below.

[0047] The remote interface logic component 1450 may be in communication with the load control system logic component 1401 via a communication system 1470, which may be wireless 1471 or wired 1472. Outputs 1460 from the remote interface logic component 1450 may include information displayed on a screen or display 1461, and access to auditory cues or remote sounds (such as sounds detected by a sensor in the load) via an audio output 1462. The output 1460 may also output tactile cues. Inputs 1465 to the remote interface logic component 1450 for controlling the SLCS may include commands via a touch screen 1466 or joystick 1467, via the activation controller 240, the on / off switch 245, the state selector 250, and the manual / rotary control 251, for example, with reference to Figures 13A-13C. In embodiments, manual / rotation control 251 may actuate a fan on the opposite side of the SLCS (opposing fan), for example, to generate a rotational force or torque on load 130. In embodiments, additional control(s) may be provided to actuate a fan on the same side of the SLCS, for example, to generate, for example, a translational force on load 130. In embodiments, additional control(s) may be provided to actuate one or more winches, for example, to tighten control lines. In various embodiments, remote interface logic component 1450 may be comprised of one or more physical and / or logical devices that collectively provide the functionality described herein.

[0048] Aspects of the system may be embodied in a special or special purpose computing device or data processor, in combination with a suitable memory, that is specially 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 a distributed computing environment where tasks or modules are performed by remote processing devices and memories 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, modules may be located in both local and remote memory storage devices. As shown diagrammatically in FIG. 14, the load control system logic component 1401 and the remote interface logic component 1450 may be coupled by a wired or wireless network.

[0049] The load control system logic component 1401 may cooperate with a remote positioning unit, remote interface, or target node that includes one or more remote interface logic components 1450 according to one embodiment. The remote positioning unit, remote interface, or target node may include a group of internal or external sensors, such as sensors 1468, configured to communicate, such as wirelessly, with the load control system logic component 1401 as a position reference. The sensors 1468 may be similar to the sensors 1405 or may be a subset of the sensors 1405. If the sensors 1405 are considered a primary sensor suite, the secondary sensor suite location may be within a platform, crane, aircraft, or other carrier from which the main load bearing line 125 is suspended, and the tertiary sensor suite location may be a location of interest relative to the load (e.g., for positioning to acquire or deliver the load). The remote interface logic component 1450 may further include a processor 1469 and memory 1473, which may be similar to the processor 1420 and memory 1425. Memory 1473 may include software or firmware code, instructions, or logic for one or more modules used by a remote positioning unit, remote interface, target node, or remote interface, such as remote interface module 1474. For example, remote interface module 1474 may provide control and interface (e.g., input / output) for the remote positioning unit, remote interface, target node, or remote interface, such as enabling on / off, pairing with an SLCS, inputting commands, etc.

[0050] The remote positioning unit or remote interface may include a transceiver configured to communicate with the load control system logic component 1401 via a wireless transceiver and provide a position reference. For example, the remote positioning unit or remote interface may be secured to a helicopter, crane, or other carrier 124 from which a load may be suspended. The remote positioning unit, remote interface, or target node may be secured to the helicopter, crane, or carrier by, for example, magnets, bolts, or any other securing mechanism. The remote positioning unit, remote interface, or target node may be installed or dropped at a location on the ground or secured to, for example, a life preserver or other flotation device, a rescuer, a load to be picked up, the location of a load to be delivered, or a specific location in an operation.

[0051] In some embodiments, the remote positioning unit, remote interface, or target node may be handheld and made of durable polymer or plastic. The remote positioning unit, remote interface, or target node may have an external antenna.

[0052] Aspects of the load control system logic component 1401 and / or the remote interface logic component 1450 may be embodied in a specialized or special purpose computing device or data processor specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions described in detail herein. Aspects of the load control system logic component 1401 and / or the remote interface logic component 1450 may also be implemented in a distributed computing environment where tasks or modules are performed by remote processing devices 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, modules may be located in both local and remote memory storage devices. As shown diagrammatically in FIG. 14, the load control system logic component 1401 and the remote interface logic component 1450 may be coupled by a wired or wireless network.

[0053] 15 is a diagram illustrating an example of an operational module 1500 of a lifted load control system ("SLCS") including multiple mode or command state modules according to one embodiment. Instructions for or embodying decision and operational module 1500 may be stored, for example, in memory 1425 and implemented or executed, for example, by processor 1420, as well as the electrical circuitry, firmware, and other computer and logic hardware of the SLCS with which operational module 1500 may interact. In an embodiment, the computer processor and memory for executing part or all of operational module 1500 may be remote from the SLCS, such as, for example, in an auxiliary computer in a carrier.

[0054] A load control system device may be installed on the load and / or the cable from which the load is suspended, at block 1505. The load control system device does not need to be powered on for installation.

[0055] In block 1510, the lifting load control system ("SLCS") in the apparatus may be powered up and the operational module 1500 may be started. In some embodiments, the operational module 1500 may be initialized by pressing a button located on the SLCS, such as on the electronics box 165 and / or the remote pendant 235. There may be another button near the external button that may initialize the operational module 1500 that allows it to shut down immediately when pressed. In addition to the initialization interface on the center or control module, the operational module 1500 may be initialized by an operator who is not directly next to the system. One or more external operators, including but not limited to operators of a crane or other carrier, rescuers at the end of a cable, etc., may initialize the operational module 1500 by pressing a button on one or more remote interfaces wirelessly linked to the operational module 1500. One or more modules of a complete SLCS, such as physically separated control units, fan units, etc., may be started up in block 1510 and may be paired to function together. During block 1510, the operational module 1500 may determine the relative orientation of the fan units or winches that it will control. This determination may be based on sensor information from the fan units or winches, such as compass orientation sampled from the sensor(s) of each fan unit or winch. This determination may be performed to adjust for fan units or winches that are not available, such as when components of a modular SLCS are deployed on an irregular load, such as a load surrounded by ropes or webbing, and the fan units or winches may not be parallel or may not have a predetermined fixed physical arrangement. This determination may be used in conjunction with fan and winch mapping in block 1635 of FIG. 16. This determination may not be necessary if the SLCS is in a rigid frame and the fan units or winches can be assumed to be parallel to each other.This determination may generate an error condition if the fan unit or winch is not within the allowed directional range or is unavailable.

[0056] At block 1515, the operational module 1500 may be activated. At block 1515, the operational module 1500 may provide tension to one or more winch control lines, such as by activating a winch. The operational module 1500 may sense tension on one or more winch control lines and / or the length of one or more control lines, such as with a winch 1412 sensor. The operational module 1500 may output information regarding tension on the control lines and / or the length of the control lines, for example, to a remote interface logic component. The operational module 1500 may determine that an error condition has occurred, such as insufficient or too high winch tension, insufficient or too high winch control lines paid out to or from the winch. The error condition may result in reporting to an operator, such as to a remote interface; the error condition may be overridden by a command from an operator, such as from a remote interface; the error condition may result in the operational module 1500 not proceeding until the error condition is addressed. The error condition may be addressed by the operator resecuring the winch control lines and reinitializing or continuing to initialize the operational module 1500.

[0057] If there is no error condition, etc., in block 1515, a function mode or command state of the operational module 1500 may be invoked, such as by input from an operator or another process, in block 1520. Maintenance of tension in the winch control lines and absence of error conditions may be conditions for continued performance of block 1520. In block 1520, the operational module 1500 executes or invokes the load control decision and thrust control module 1600 as a subroutine or submodule to implement the function mode or command state. The function modes or command states of the system may be as follows:

[0058] Idle mode 1521: The internal systems of the SLCS are operating (e.g., the operational module 1500 observes the SLCS and load motion and calculates corrective actions), but the thrusters are shut off or maintain only idle speed, and no action is taken to affect load motion.

[0059] Mode 1522: Maintains relative position to the aircraft, crane, and carrier. The SLCS stabilizes the SLCS with respect to the origin of the suspension. For example, if the SLCS is suspended with a load below the drop point of the lifting cable below the crane, the SLCS will remain directly below the drop point of the lifting cable. The mode 1522 maintains the relative position of the own aircraft, localizing the movement of the own aircraft (including the movement of the drop point) and taking the necessary corrective action to rapidly damp the movement of other suspended loads. If the own aircraft or drop point is moving at a low speed, the mode 1522 maintains the relative position of the own aircraft couples the speed or cable tension so that the two entities move as one. If a disturbance is applied to the load, the mode 1522 maintains the relative position of the own aircraft applies thrust or tension in the winch control line in the direction of the disturbance to counteract the disturbance and eliminate the sway.

[0060] Move / Stop Mode 1523: Stabilizes the SLCS in position, negating the effects of weather and slight movements of the platform, such as cranes and carriers. This mode has the effect of stopping all movement. The operator can send a target position to the SLCS via the remote interface. There are at least three ways this can happen:

[0061] Target Node Position 1524: The operator may place the reference position sensor 1468 (e.g., positioning unit or target node) at the desired lowered position. The reference position sensor 1468 may wirelessly communicate with the target node position 1524 module to indicate the desired position, and the target node position 1524 module responds by steering the SLCS to the desired position, while simultaneously adjusting winch tension to aid in this steering. The remote interface display 1461 may receive and display the position information of both entities.

[0062] User-specified position / orientation 1525: The operator can use the remote interface display 1461 to send a specified position (e.g., latitude and longitude coordinates) or orientation as the commanded position or orientation to the User-specified position / orientation 1525 module. The system will then steadily orient the load to the desired position or orientation. The system will simultaneously provide feedback to the remote interface logic component 1450 regarding position, distance, and orientation information.

[0063] Position or Heading Hold Mode 1526: Resists all movement of the SLCS and holds the current position and / or heading independent of own-vehicle movement and external forces. This module has the effect of stopping all movement. This module is conditionally responsive to own-vehicle speed, safety factors, and physical constraints.

[0064] Direct Control Mode 1527: Operate the SLCS with three degrees of freedom, such as with a joystick. The operator can directly control positioning, rotation, thruster power levels, or winch tension, for example, using the manual / rotation control 251 or another control. The operation module 1500 is fully closed loop and does not require external controls during operation, although there are options for user control. The operator can provide input to the Direct Control Mode 1527 module to directly control positioning, rotation, thruster power levels, and winch tension.

[0065] Obstacle Avoidance Module 1529 module: Receives and processes sensor information to i) equalize the distance between a sensor position, such as a fan unit, and an object, such as an obstacle, sensed in the environment, or ii) measure or receive the shape of the load, measure the shape of an obstacle sensed in the environment, determine or receive the position, orientation, and movement of the load, and adjust the relative relationship between the obstacle and the load, such as by activating a fan or winch.

[0066] At block 1530, the operator completes the operation and retrieves the SLCS.

[0067] In block 1535, the operational module 1500 may be stopped by pressing a button on the SLCS device, such as by pressing a button on an interactive control. If the SLCS device includes a foldable frame, propulsion arm, fan unit, or winch, the winch control lines may be wound, coiled, or unwound, the arms or frame parts may be folded and stored, etc. If the SLCS device includes removable modules, such as a fan unit, winch, housing, power supply housing, etc., the modules may be removed and disassembled. Also, the load may be removed from the load hooks, etc., and the lifting cables may be removed from the load and / or the hoist rings on top of the SLCS. The SLCS may then be stowed in a suitable location. When stowed, the SLCS may be electrically coupled to a charger or other power source.

[0068] 16 is a diagram illustrating a decision and thrust control module 1600 of a sling load control system ("SLCS") according to one embodiment. Instructions for or embodying decision and thrust control module 1600 may be stored, for example, in memory 1425 and implemented or executed, for example, by processor 1420, as well as the electrical circuitry, firmware, and other computer and logic hardware of the SLCS with which decision and thrust control module 1600 may interact. In an embodiment, the computer processor and memory for executing part or all of decision and thrust control module 1600 may be remote from the SLCS, such as, for example, in an auxiliary computer of a carrier, remote interface, etc.

[0069] The decision and thrust control module 1600 may operate in a closed loop to understand its position and motion in near real time, determine the most desirable system response, and send the desired response(s) to the air propulsion system thruster array and / or winches to mitigate cable sway or control the load during operation.

[0070] In block 1605, the decision and thrust control module 1600 may obtain data from sensors 1405, such as accelerometers, gyroscopes, magnetometers, GPS, lidar / radar, range finders, winch sensors 1412, or machine vision inputs including machine vision processing of images of the winch control line taken by a camera on the SLCS.

[0071] In block 1610, the decision and thrust control module 1600 combines data from the sensors to obtain a data fusion that describes the position, orientation, motion, and environment of the SLCS device.

[0072] Sensor data is fused and filtered by SLCS through a nonlinear flavor of Kalman filter to obtain an accurate representation of the system state. Closed-loop control schemes, including fuzzy tuned proportional-integral-derivative feedback controllers, can bidirectionally communicate with advanced control schemes such as deep learning neural nets and future propagated Kalman filters to enable further real-time system identification.

[0073] At block 1615, the decision and thrust control module 1600 performs state estimation using a nonlinear state estimator to predict near future motion based on data fusion and based on feedback from the decision and control engine to the state estimator. The state estimation and near future motion may include rate of rotation or rate of change of rotation, mass, center of mass, moments of inertia, etc., and one or more such data or changes in such data may be consistent with incorrect tension in one or more winch control lines.

[0074] At block 1617, the decision and thrust control module 1600 receives a function mode selection, such as according to user input.

[0075] In block 1620, the decision and thrust control module 1600 takes state estimates 1615 informed by the user selected function mode or command state 1617, as well as additional feedback from thrust and direction and winch mapping 1625 and power control 1640, to determine the desired direction of motion, rotation, center of gravity, or response rate of the SLCS.

[0076] The algorithm output is sent to a motion or power controller such as an ESC to provide the desired thrust response to the EDF and to the winch as winch control, for example via phase control of a pulse modulated power signal. The net thrust output and winch control are mapped in real time through encoders and load cells and then sent back to the decision and control block 1620 onwards for closed loop control.

[0077] In block 1630, the determination and thrust control module 1600 maps the desired orientation with the thrust vector from the EDF to generate a thrust and orientation mapping, and maps the desired orientation with the winch tension to generate a winch tension mapping to achieve the determined thrust, winch tension, and orientation of the SLCS device.

[0078] In block 1635, the decision and thrust control module 1600 maps the thrust and orientation mapping to fan and fan thrust vectors and winch tension vectors to generate fan and winch mapping to control the EDF and winch to achieve the desired thrust and orientation of the SLCS.

[0079] In block 1640, the determination and thrust control module 1600 applies the fan and winch mapping to output power control signals to achieve the determined thrust and orientation of the SLCS, to exert the determined movement or force.

[0080] In block 1640, the SLCS thrusters exert commanded control output to implement a dynamic response in the form of thrust and winch control that may counter unwanted motion or drive the SLCS and load in a desired manner.

[0081] If an interrupt condition occurs, such as if an incorrect winch tension error condition is detected, the decision and thrust control module 1600 may exit or return to the module that may have called it.

[0082] The decision and thrust control module 1600 may be unmanned and automated, except for high level operator selected function control modes and / or user inputs via function control modes. The net output is a control force to move, stabilize or control the load.

[0083] Apart from high-level operator selected function control modes and user input, the entire process is unmanned and automated. The net output is a control force for stabilizing and controlling the load.

[0084] FIG. 17A shows a graph of the response of a suspended load to be controlled by an SLCS with insufficient tension on the control lines. FIG. 17A illustrates a graph of the response of a suspended load to be controlled by an SLCS with proper tension on the control lines, as may occur when the system includes the apparatus, system, and method as disclosed herein. The graph with insufficient tension in FIG. 17A shows that the SLCS is vibrating about its suspended vertical axis (e.g., about the Y axis). This results in a reduced ability of the SLCS to control the load, increased latency in the application of force (e.g., torque) from the SLCS to the load, increased power consumption by the SLCS, and a significant decrease in performance, undermining the rationale for employing another device, e.g., an SLCS, in operation. The graph with proper tension in FIG. 17B shows that the SLCS is reducing vibrations about its suspended vertical axis (e.g., the Y axis) compared to the graph with insufficient tension. This results in improved ability for the SLCS to control the load, reduced latency in the application of force (e.g., torque) from the SLCS to the load, reduced power consumption by the SLCS, and performance justification for employing the SLCS in operations. The graph in FIG. 17B further illustrates the response of the SLCS by intentionally rotating the load rather than simply attempting to hold it in one orientation as in FIG. 17A. The graph in FIG. 17B also has a different scale than FIG. 17A, but nevertheless the significantly improved performance of the SLCS can be seen in a comparison of these two graphs.

[0085] Status indicator lights may be mounted on various surfaces of the SLCS to aid in visibility and operation from above and below the SLCS. For example, the SLCS may have external lighting, such as LEDs near the thrusters that identify the edge and orientation of the SLCS. This may improve identification in poor visibility conditions, such as inclement weather. During operation, LED display indicators, both on the remote interface and on the system itself, show when the system is active and convey useful information.

[0086] The electronics box 165 may house and protect computer hardware such as computer processors and memory, power supplies, electronic speed controllers, microcontrollers, sensors, etc. The power source may be a single power brick or an array of battery cells wired in series and / or parallel, such as Lithium Polymer (LiPo) cells. The batteries may be removable for service and / or to replace discharged and charged batteries. The batteries may be charged while installed on the SLCS (i.e., without removal) through power from a node or wireless charging system on or within the SLCS that connects to a charging dock, or through a wired connection such as the main power conduit 180. The batteries may include an auxiliary battery to provide stable power to the processor even if the fan unit thrusters draw relatively large amounts of power from the main battery. In an embodiment, the crane may provide some power to the SLCS, and the SLCS may obtain other power from an on-board power source. In various embodiments, the SLCS may be powered by a combination of on-board and remote power. In many environments, all power for the SLCS will be contained on-board, allowing for fully autonomous operation without reliance on the availability of an external power source or delivery means.

[0087] Included within the electronics box 165 may be a data link that allows a microcontroller unit or processor to monitor power information including, but not limited to, cell voltage and real-time power dissipation or consumption.

[0088] Housed within the electronics box 165 may be a thruster controller that allows a computer processor to control the speed, power draw, and thrust of the thrusters in the EDF. The thruster controller may be, for example, an electronic speed controller ("ESC") for the EDF. An ESC typically has at least three connections: a power source, a thruster, and a processor or microcontroller, or both. The ESC takes power from the power source and distributes it to the thrusters to control the amount of thrust the EDF produces.

[0089] Housed within the electronics box 165 may be a computer processor or central processing unit (CPU). The processor may be an embedded system including a signal board computer and one or more microcontroller units ("MCUs"). The CPU and MCU may be housed within a housing to which a data link connection may be made. The electronics box 165 may be made of or constructed of a rugged plastic or polymer that protects the system from environmental and operating factors such as weather. In some embodiments, the CPU and MCU are mounted on the same printed circuit board (PCB).

[0090] The electronics box 165 may include one or more wireless transceivers, which may include separate transmitters and receivers, as well as antennas for wireless communication. The transceivers and / or wireless antennas may be mounted or printed on the same printed circuit board as the processor. The wireless transceivers may constitute access points for Bluetooth, Wi-Fi, microwave, and / or radio frequency (RF) transmission and reception. The wireless transceivers may be used to communicate with remote sensors, remote control units, remote positioning units or target nodes, remote interfaces, etc., as discussed further herein.

[0091] The electronics box 165 may include a vector navigation unit, which may include an inertial measurement unit ("IMU") that provides inertial navigation data to the processor.

[0092] The SLCS 105 may include or be communicatively coupled to one or more sensors in addition to the IMU. Such additional sensors may consist of, for example, an inertial measurement system, an orientation measurement system, and an absolute position measurement system. The inertial measurement system ("IMS") may include a three degree of freedom (3DOF) accelerometer, a gyroscope, and a gravity sensor, which may be comprised of microelectromechanical system (MEMS) sensors. The orientation measurement system may include a magnetometer or magnetometer, such as a compass, an inclinometer, a direction encoder, and a radio frequency relative heading meter. The absolute position measurement system may include a global positioning system (GPS) sensor.

[0093] The sensors may further include proximity sensors or light detection and ranging (LIDAR) systems (e.g., rotary or linear), and / or optical sensors such as one or more cameras or infrared (IR) sensors. The proximity sensors may include ground height sensors. The optical sensors may also provide visual information to the user. This information may be communicated by the SLCS processor to a remote device via a data link cable and / or wireless transceiver. The proximity and optical sensors enable the system to provide 360 ​​degree awareness and collision avoidance by detecting obstacles and altering the course of the SLCS to avoid the obstacles. They may also provide ground (or water) position information to the crane operator or ground crew. Sensors requiring visibility of the surrounding environment may be located on or at the surface of the SLCS 105 and / or at a distance from the SLCS 105.

[0094] Additional SLCS sensors may include strain sensors to measure loads on the housing, fan units, conduits, fixed structures to the suspension cables, control lines 110, etc. Additional sensors may include rotary encoders or thruster rate sensors, which may be incremental or absolute, and shutdown pin presence sensors.

[0095] The SLCS may use remote position sensors or beacons, remote computing units, or target node transceiver devices to assist in characterizing the position and / or movement of target locations of interest, such as the load and / or the SLCS 105 (e.g., relative to a crane), the carrier, and the load's destination.

[0096] The SLCS processor applies algorithms to the received sensor system data to obtain the desired system response. For example, GPS sensor data may be refined by real-time kinetic (RTK) algorithms to develop a refined absolute position. Measurements may be fused by nonlinear data fusion methods, such as Kalman filtering, to obtain optimal state estimates in all degrees of freedom to characterize the system's position and motion in geodesic space.

[0097] The apparatus and method in the present disclosure have been described above based on several preferred embodiments. Different aspects of different variations are considered to be described in combination with each other, all combinations that can be considered to be read within the concept of the present disclosure when read by a person skilled in the art based on this document. The preferred embodiments do not limit the scope of protection of this document.

[0098] Embodiments of the operations described herein may be implemented in a computer-readable storage device having stored thereon instructions that, when executed by one or more processors, perform the methods. The processor may include, for example, a processing unit and / or a programmable circuit. The storage device may include machine-readable storage devices, including any type of tangible, non-transitory storage device, such as, for example, floppy disks, optical disks, compact disk read only memory (CD-ROM), compact disk rewriteable (CD-RW), and magneto-optical disks, disks of any type, such as semiconductor devices, such as Read Only Memory (ROM), Random Access Memory (RAM), Erasable Programmable Read Only Memory (EPROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory, magnetic cards, optical cards, or any type of storage device suitable for storing electronic instructions. The Universal Serial Bus (USB) may be compliant with or compatible with the Universal Serial Bus Specification, Revision 2.0, published by the Universal Serial Bus organization on April 27, 2000, and / or later versions of this specification, such as the Universal Serial Bus Specification, Revision 3.1, published on July 26, 2013. The PCIe may be compliant with or compatible with the PCI Express 3.0 Base Specification, Version 3.0, published by the Peripheral Component Interconnect Special Interest Group (PCI-SIG) in November 2010, and / or later, and / or relevant versions of this specification.

[0099] As used in any embodiment herein, the term "logic" may refer to logic of instructions of an app, software, and / or firmware and / or logic embodied in a programmable circuit by a configuration bitstream to perform any of the operations described above. Software may be embodied as a software package, code, instructions, instruction sets, and / or data recorded on a non-transitory computer-readable storage medium. Firmware may be embodied as code, instructions, instruction sets, and / or data hard-coded (e.g., non-volatile) in a memory device.

[0100] A "circuit" as used in any embodiment herein may consist of, for example, hardwired circuitry, programmable circuitry such as an FPGA, either alone or in any combination. Logic may collectively or individually be embodied as circuitry that forms part of a larger system, such as, for example, an integrated circuit (IC), an application specific integrated circuit (ASIC), a system on a chip (SoC), a desktop computer, a laptop computer, a tablet computer, a server, a smartphone, etc.

[0101] In some embodiments, a hardware description language (HDL) may be used to specify the circuit and / or logic implementation(s) for the various logic and / or circuits described herein. For example, in one embodiment, the hardware description language may conform to or be compatible with Very High Speed ​​Integrated Circuits (VHSIC) Hardware Description Language (VHDL), which may enable semiconductor manufacturing of one or more of the circuits and / or logic described herein. The VHDL may conform to or be compatible with IEEE Standard 1076-1987, IEEE Standard 1076.2, IEEE 1076.1, IEEE Draft 3.0 of VHDL-2006, IEEE Draft 4.0 of VHDL-2008, and / or other versions of the IEEE VHDL standard and / or other hardware description standards.

[0102] As used herein, the term "module" (or "logic") may refer to, be a part of, or include: an application specific integrated circuit (ASIC), a system on a chip (SoC), an electronic circuit, a programmable circuit (such as an FPGA), a processor (shared, dedicated, or group) or other computer hardware component or device that executes one or more software or firmware programs having executable machine instructions (generated from an assembler and / or compiler) or a combination thereof, or a combinatorial logic circuit, and / or other suitable component having logic that provides the described functionality. The modules may be separate and independent components integrated by sharing or passing data, or the modules may be subcomponents of a single module or may be split into multiple modules. The components may be processes running on a single computing node, or may be implemented on a single computing node, or may be distributed across multiple computing nodes operating in parallel, simultaneously, sequentially, or a combination thereof, as described in more detail in conjunction with the flow diagrams in the figures.

[0103] As used herein, a process corresponds to an instance of a program (e.g., an application program) executing on a processor, and a thread corresponds to a portion of a process. A processor may include one or more execution cores. A processor may be configured as one or more sockets, each of which may contain one or more execution cores.

[0104] As used herein, "releasable," "connect," "connectable," "disconnectable," and "disconnectable" generally refer to two or more structures that can be connected or disconnected without the use of tools (examples of tools include screwdrivers, pliers, drills, saws, welding machines, torches, irons, and other heat sources) or with tools but in a repeatable manner (such as the use of nuts and bolts or screws). As used herein, "attach," "attached," or "attachable" refers to two or more structures or components that are attached by the use of tools or by chemical or physical bonding, but the structures or components are not generally released or reconnected in a repeatable manner. As used herein, "fixed," "fixed," or "fixable" refers to two or more structures or components that are connected or attached.

[0105] The SLCS 105 may be formed of any suitable material, such as metal, plastic, composite materials such as fiber-reinforced resin, etc. The SLCS 105 may provide access to the interior space through a sealed hatch or one or more removable panels to allow for maintenance and inspection.

[0106] While specific embodiments have been illustrated and described herein, those skilled in the art will recognize that alternative and / or equivalent embodiments may be substituted for the specific embodiments illustrated and described without departing from the scope of the present disclosure. For example, while various embodiments are described above in terms of a crane, in other embodiments, the SLCS may be employed under a helicopter. This application is intended to cover any adaptations or variations of the embodiments discussed herein.

[0107] Below is an example.

[0108] Example 1. A load control system for influencing at least one of a position, orientation, or movement of a load from a carrier by a primary load bearing line, comprising a rotary joint, a winch, a winch control line secured to the load and the winch, a thruster, a sensor suite, a computer processor, and a memory, wherein the memory includes a control module which, when executed by the computer processor, determines at least one of a tension on the winch and a position, orientation, or movement of the load based on sensor data from the sensor suite and controls the thruster to influence at least one of a tension on the winch and a position, orientation, or movement of the load, wherein the rotary joint allows the load control system to rotate about a vertical axis of the primary load bearing line without applying significant torque to the primary load bearing line.

[0109] Example 2. The load control system of example 1, wherein the load control system is secured to a head block by the rotary joint, and the head block is secured to the main load bearing line.

[0110] Example 3. The load control system of example 1, wherein the rotary joint has a bearing set, the bearing set being radially arranged about a central axis of the primary load bearing line.

[0111] Example 4. The load control system of Example 1, wherein the rotary joint does not transmit a primary lifting force between the carrier and the load, but transmits torque from the load control system to the load via the winch control line.

[0112] Example 5. A load control system according to Example 1, characterized in that the winch control line does not transmit a primary lifting force between the carrier and the load, but transmits torque from the load control system to the load via the winch control line.

[0113] Example 6. The load control system of example 1, wherein the main load bearing line includes a load bearing swivel joint, the load bearing swivel joint rotates the load about a vertical axis of the main load bearing line without applying significant torque to the main load bearing line.

[0114] Example 7. The load control system of example 1, further comprising at least one of a plurality of thrusters, a plurality of winches, and a plurality of winch control lines.

[0115] Example 8. The load control system of Example 1, wherein the thrust control module combines sensor data from a group of sensors through a nonlinear filter to determine at least a position, orientation, or movement to determine a current state, and the control module further controls the thrusters to affect at least one of the tension on the winch and the position, orientation, or movement of the load using the current state.

[0116] Example 9. The load control system according to Example 8, wherein controlling the thrusters to affect at least one of tension on the winch and a position, orientation, or motion of the load using current conditions is to predict near future motion based on current conditions with feedback from at least one of a functional mode or command state of an operational module, a thrust and orientation mapping, or a fan mapping.

[0117] Example 10. The load control system according to Example 1, wherein the thruster comprises at least one of a fan or a flywheel.

[0118] Example 11. A computer-implemented method for affecting at least one of a position, orientation, or movement of a load suspended by a primary load bearing line from a carrier, comprising: determining a position, orientation, or movement of a load and a tension in a winch based on sensor data from a group of sensors, the winch being secured to the load by a winch control line; controlling the winch and thrusters to affect at least one of the position, orientation, or movement of the load, the rotary joints causing the winch and thrusters to rotate about a vertical axis of the primary load bearing line without applying significant torque to the primary load bearing line; The method includes:

[0119] Example 12. The method according to example 11, further comprising tensioning the winch control lines and actuating the thrusters to affect at least one of a position, orientation, or motion of the load.

[0120] Example 13. The method of example 11, further comprising transmitting torque from the load control system to the load via a winch control line.

[0121] Example 14. The method according to 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 (passes) the rotary joint.

[0122] Example 15. The method according to example 11, wherein the load bearing swivel joint allows the load to be rotated about a vertical axis of the main load bearing line without applying a large (significant) torque to the main load bearing line.

[0123] Example 16. The method according to example 11, further comprising determining a position, orientation, or movement, and a winch tension by combining sensor data from the group of sensors through a nonlinear filter to determine a current state, the current state comprising the position, orientation, or movement, and the winch tension.

[0124] Example 17. The method according to example 16, further comprising predicting near future motion based on the current state, and controlling the winch and thrusters based on the near future motion.

[0125] Example 18. The method according to example 11, wherein predicting near future motion based on the current state includes updating the current state with feedback from at least one of a functional mode or command state of the operational module, a thrust and direction mapping, a fan mapping, or a winch mapping.

[0126] Example 19. An apparatus for influencing at least one of the position, orientation, or movement of a load suspended from a carrier by a main load bearing line, comprising: means for determining a position, orientation or movement of the load and winch tension from a winch control line based on sensor data from a group of sensors; means for securing the winch to the load by the winch control line; means for controlling thrusters which affect at least one of the position, orientation or movement of the winch, the winch control line and the load; and means for a rotary joint which allows the winch and thrusters to rotate about a vertical axis of the main load bearing line without applying a large (significant) torque to the main load bearing line.

[0127] Example 20. The apparatus of example 19, further comprising means for tensioning the winch control line with a winch and means for actuating the thruster to affect at least one of a position, orientation, or movement of the load.

[0128] Example 21. The apparatus of example 19, further comprising a means for transmitting torque to the load via a winch control line.

[0129] Example 22. The apparatus of example 19, further comprising a means for transmitting a primary lifting force between the load and the carrier, wherein the primary lifting force between the load and the carrier bypasses the rotary joint.

[0130] Example 23. The apparatus of example 19, further comprising a means for a load bearing swivel joint that allows the load to rotate about a vertical axis of the main load bearing line without applying significant torque to the main load bearing line.

[0131] Example 24. The apparatus according to example 19, further comprising means for determining a position, orientation, or movement, and a winch tension by combining sensor data from the sensors through a non-linear filter to determine a current state, the current state including a position, orientation, or movement, and a winch tension.

[0132] Example 25. The apparatus according to example 24, further comprising: means for predicting near future motion based on the current state; and means for controlling the winch and thruster based on the near future motion.

[0133] Example 26. The apparatus according to example 19, wherein the means for predicting near future motion based on a current state comprises means for updating the current state with feedback from at least one of a functional mode or command state of the operational module, a thrust and direction mapping, a fan mapping, or a winch mapping.

[0134] Example 27. The apparatus according to example 19, wherein the apparatus is suspended above the load at the end of the main load bearing line.

[0135] Example 28. One or more computer readable media containing instructions that, in response to execution of the instructions by a processor of a computing device, cause the computing device to: determine a position, orientation, or movement of a load and a winch tension from a winch control line based on sensor data from a group of sensors, and control the winch, winch control line, and thrusters to affect at least one of the position, orientation, or movement of the load, the computing device being secured to a primary load bearing line below the carrier by a rotary joint that causes the computing device, the winch, and the thrusters to rotate about a longitudinal axis of the primary load bearing line without applying significant torque to the primary load bearing line.

[0136] Example 29. The computer-readable medium according to example 28, wherein the instructions further cause the computing device to tension the winch control lines with the winch and activate the thrusters to affect at least one of a position, orientation, or motion of the load.

[0137] Example 30. The computer-readable medium of example 28, further comprising instructions that cause the computing device to transmit torque to the load via the winch control line.

[0138] Example 31. The computer readable medium of example 28, wherein the primary lifting force is transferred between the load and the carrier, and the primary lifting force between the load and the carrier bypasses (passes) the rotary joint.

[0139] Example 32. The computer-readable medium according to example 28, wherein the instructions further cause the computing device to determine a position, orientation, or movement, and a tension of the winch by combining sensor data from the group of sensors through a nonlinear filter to determine a current state, the current state including the position, orientation, or movement, and the tension of the winch.

[0140] Example 33. The computer-readable medium of example 28, wherein the instructions further comprise means for causing the computing device to predict near future motion based on the current state and control the winch and thrusters based on the near future motion.

[0141] Example 34. The computer-readable medium according to example 28, wherein the instructions further comprise means for updating the current state with feedback from at least one of the operational module's functional mode or command state, thrust and direction mapping, fan mapping, or winch mapping, causing the computing device to predict near future motion based on the current state.

Claims

1. a load control system for influencing at least one of a position, an orientation, or a motion of a load suspended from a carrier by a primary load bearing line, comprising: a winch, a plurality of winch control lines secured to the load and to the winch, a load control system thruster, a group of sensors, a computer processor and a memory; each of the winch control lines is connected to a different point on the load; the thrusters of the load control system are located at or near the terminus of the main load bearing lines from the carrier; The memory includes: when executed by the computer processor, determining tension in the winch control line and at least one of a position, orientation, or movement of the load based on sensor data from the group of sensors; a control module for controlling tension in the winch control line between the load and the load control system; tension in the winch control lines between the load and the load control system is different from tension in the main load bearing lines from the carrier, and tension in the winch control lines enables thrust of the thrusters of the load control system to control the load; The control module controls the thrusters of the load control system to output thrust, and the thrust and the tension in the winch control line affect at least one of the position, orientation, or movement of the load.

2. The control system includes a rotary joint. The control system rotary joint comprises: allowing the load control system and the load to rotate about a vertical axis of the main load bearing line without applying significant torque to the main load bearing line; the load control system is secured to a head block by the control system swivel joint at or near the termination of the main load bearing line from the carrier; The load control system of claim 1 , wherein the head block is secured to the main load bearing line.

3. the control system rotary joint having a bearing set; The load control system of claim 2 , wherein the bearing sets are arranged radially about a central axis of the primary load bearing line.

4. the main load bearing line has a load bearing swivel joint and supports the load through the load bearing swivel joint; 2. The load control system of claim 1, wherein the load bearing swivel joint allows the load to rotate about a vertical axis of the main load bearing line without the load exerting a significant torque on the main load bearing line.

5. The control module includes: determining at least a position, orientation, or motion of the load by combining the sensor data from the sensors through a non-linear filter to determine a position, orientation, or motion of the load and a current state including tension of the winch; 2. The load control system of claim 1, wherein the control module further uses the current state to control tension in the winch control lines and the thrusters to affect at least one of a position, orientation, or movement of the load.

6. using the current state to control tension in the winch control lines and the thrusters to affect at least one of a position, orientation, or movement of the load; The load control system of claim 5, further comprising: a load control unit for controlling a load of a vehicle that is adapted to control a load of a vehicle; a load control unit for controlling a load of a vehicle that is adapted to control a load of a vehicle;

7. The load control system of claim 1 , wherein the thruster comprises at least one of a fan or a flywheel.

8. 1. A computer implemented load control method for influencing at least one of a position, orientation, or motion of a load suspended by a primary load bearing line below a carrier by thrusters of a load control system, comprising: determining a position, orientation, or movement of the load and tension in a plurality of winch control lines based on sensor data from a group of sensors; the thrusters, winches and winch control lines of the load control system are located below the carrier at or near the termination of the main load bearing lines; the winch is secured to the load by winch control lines, each of which is connected to a different point on the load, to control tension in the winch control lines; the tension in the winch control line between the load control system and the load is different from the tension in the main load bearing line from the carrier; tension in the winch control line enables thrust from the thrusters of the load control system to control the load; The method further comprising controlling the thrusters to output thrust to affect at least one of a position, orientation, or motion of the payload.

9. The method of claim 8 , further comprising applying tension to the winch control line to actuate the thruster to output thrust to affect at least one of a position, orientation, or movement of the load.

10. transmitting torque generated by thrust of the thruster of the load control system to the load via the winch control line; rotating the load control system and the thrusters about a control system rotary joint aligned with a vertical axis of the main load bearing line; The method of claim 8 , wherein the control system rotary joint allows the load control system and the thrusters to rotate without applying significant torque to the main load bearing lines.

11. determining a position, orientation, or motion of the load and a tension of the winch by combining sensor data from a group of sensors through a non-linear filter to determine a current state; 9. The method of claim 8, wherein the current state includes a position, orientation, or movement of the load and tension in the winch.

12. predicting near future motion based on the current state; The method of claim 11 , further comprising controlling the winch and the thruster based on the near future motion.

13. 12. The method of claim 11, wherein predicting near future motion based on the current state includes updating the current state with feedback from at least one of a functional mode or command state of an operational module, thrust and direction information, fan information, or winch information.

14. 1. An apparatus for influencing at least one of a position, an orientation, or a motion of a load suspended by a primary load bearing line below a carrier by a thruster of a load control system, comprising: means for determining a position, orientation, or movement of the load and winch tension from a plurality of winch control lines based on sensor data from a group of sensors; the thrusters, the winches, and the winch control lines of the load control system are located below the carrier at or near the termination of the main load bearing lines; means for securing said winch to said load with said winch control lines each connected to a different point on said load; means for controlling said winch, said winch control lines and said thrusters; the tension in the winch control line between the load control system and the load is different from the tension in the main load bearing line from the carrier; tension in the winch control line enables thrust from the thrusters of the load control system to control the load; A load control device further comprising means for controlling the thruster to output thrust to affect at least one of the position, orientation, or movement of the load.

15. means for applying tension to the winch control line by the winch; The load control device of claim 14, further comprising: means for actuating the thrusters to output thrust to affect at least one of a position, orientation, or movement of the load.

16. a means for transmitting torque generated by the thrust of the thruster to the load via the winch control line; and a control system rotary joint means. The control system rotary joint without applying significant torque to the main load bearing lines; 15. A load control system as claimed in claim 14, characterized in that it is possible to rotate said winch, said thruster and said load about a vertical axis of said main load bearing line.

17. a load bearing swivel joint means; said load being supported on said main load bearing line by said load bearing swivel means; The load bearing rotary joint means comprises:

15. A load control device as recited in claim 14, further comprising means for permitting the load to rotate about a vertical axis of the primary load bearing line without applying significant torque to the primary load bearing line.

18. means for determining a position, orientation, or movement of the load and a tension of the winch by combining sensor data from a group of sensors through a non-linear filter to determine a current state; The load control device of claim 14, wherein the current state includes a position, orientation, or movement of the load and tension in the winch.

19. means for predicting near-future motion based on the current state; The load control system of claim 18 further comprising: means for controlling the winch and the thruster based on the near future motion.

20. 15. The load control device of claim 14, wherein the means for predicting the near future motion based on the current state comprises means for updating the current state with feedback from at least one of a functional mode or command state of an operational module, thrust and directional information, information about the fan, or information about the winch.

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