Suspended aerial vehicle system with thruster stabilization

Abstract

A suspended aerial vehicle system includes a mothership and an aerial vehicle physically connected to the mothership, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing, wherein the thruster assembly comprises one or more propellers, wherein the one or more propellers directs air to flow in various directions. The suspended aerial vehicle system also includes one or more controllable exhausts, wherein each of the one or more controllable exhausts has an exhaust side that allows air to flow out of the thruster assembly, and wherein an opening of the exhaust side increases force generated on the opened exhaust side. A system for controlling the suspended aerial vehicle system is further disclosed in which a controller may be configured to receive information associated with a desired location of an aerial vehicle, determine a flight path, and determine adjustments.

Description

SUSPENDED AERIAL VEHICLE SYSTEM WITH THRUSTER STABILIZATIONINCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57.

[0002] This application claims the priority benefit under 35 U.S.C. § 119(e) to U.S. Provisional Patent Application No. 63 / 570,716, filed March 27, 2024, entitled “SUSPENDED AERIAL VEHICLE SYSTEM WITH THRUSTER STABILIZATION,” the content of which is hereby expressly incorporated by reference in its entirety.BACKGROUNDField

[0003] An aspect of the disclosure here relates to an aerial vehicle, specifically an aerial vehicle that coordinates a supporting line and thruster stabilization. Other aspects are also described.Description of the Related Art

[0004] Avionics has benefitted greatly from recent innovations in batteries and the miniaturization of complex electronics, such as processors. One segment within the field that has expanded the most, both amongst hobbyists and professional usage is that of small-scale unmanned aerial vehicles, commonly known as drones or rovers. This emerging technology has found creative applications in a variety of fields, such as photography, military, wildlife conservation, and construction.

[0005] There remain developmental challenges to drone technology that still need to be overcome while future applications are being developed and explored. For instance, the traveling distance of drones continues to involve tradeoffs between factors such as size, battery cost, and noise generation. These considerations are important in applications that could have the drones navigating dense urban environments or carrying heavy loads over great distances, such aspackage delivery. These factors are especially relevant when it comes to convincing a regulatory body that the developed systems are viable and safe. Conventional solutions continue to focus on managing compromises between distance, size, and maneuverability.SUMMARY

[0006] An aspect of the present disclosure is related to an aerial vehicle in which the thrust capability has been augmented by a supporting line connected to the aerial vehicle. The suspended aerial vehicle system with thruster stabilization provides a versatile solution to current challenges in the drone field that reduces the footprint, noise reduction, and offers other benefits, such as prolonged flight time, bandwidth, and higher load capacity over conventional drone offerings.

[0007] In an embodiment, a supporting line is attached to a load-bearing point on the aerial vehicle. The supporting line may be configured to be able to support the weight of the aerial vehicle and distribute the weight of the aerial vehicle into a “grounded” anchor point located outside of the aerial vehicle. For instance, the supporting line may connect to a winch system that is capable of winding in the supporting line, thus increasing tension within the supporting line and potentially pulling the aerial vehicle towards the winch system.

[0008] The aerial vehicle may have a form of directional thrust generation, such as rotors. For example, the aerial vehicle may be a “quadcopter” configuration. A controller may be able to manipulate the location of the aerial vehicle through coordinated action of the winch system, which winds in or lets out the supporting line, and the thrusters, which may vary the magnitude of force produced and angle of thrust produced relative to the supporting line. This coordination allows the controller to optimize the energy output necessary to move or maintain the position of the aerial vehicle because the thrust that may have been necessary to counteract gravity may instead be offset by the support line. If less force output is necessary from the thrusters, then the size of the thrusters may be reduced, as well as supporting structures such as batteries, while the aerial vehicle may maintain equal or greater abilities in areas such as flight time and load capacity. Smaller thrusters and support structures within the aerial vehicle gives the aerial vehicle a smaller footprint and noise profile, increasing the maneuverability of the aerial vehicle.

[0009] Noise is generated by the operation of one or more propellers in a thruster assembly due to disk loading. Disk loading is the amount of pressure felt by one or more propellers,denoted by a function of the amount of force that the propeller needs to generate and the size of the propeller itself. For example, disk loading may be determined based on the aerial vehicle weight, the rotor disk area or the area swept by the blades of a rotor. Thus, reducing disk loading or reducing head speed will immediately reduce the noise generated by the thruster assembly.

[0010] Coordination between the winch system and the thrusters may allow other benefits. For instance, due to the ability of the supporting line to divert the necessity of the thruster to counter environmental forces, such as gravity or wind load, the thrusters may be used to efficiently orient the aerial vehicles. For instance, the aerial vehicle may maintain a static position while oriented perpendicular to the direction of gravity by maximizing tension within the supporting line.

[0011] In an embodiment, the aerial vehicle may be connected to another vehicle by the supporting line. For example, the vehicle may be an aerial vehicle in a “mothership” configuration, which allows the mothership to bear at least a portion of the weight of the aerial vehicle. The mothership may have characteristics that enhance the efficiency of long duration flight, giving the system benefits of large scale aircraft while maintaining the accessibility that the small aerial vehicle provides.

[0012] The system may be configured for specific functionality. For instance, the aerial vehicle may be capable of attaching to payloads, releasing payloads, cleaning remote surfaces, defusing armament, or any of various functions that are enabled by the benefits provided by the system.

[0013] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, including: a mothership, an aerial vehicle physically connected to the mothership, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing, wherein the thruster assembly includes: one or more propellers, wherein the one or more propellers directs air to flow in various directions; and one or more controllable exhausts, wherein each of the one or more controllable exhausts has an exhaust side that allows air to flow out of the thruster assembly, and wherein an opening of the exhaust side increases force generated on the opened exhaust side.

[0014] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, a controller configured to coordinate thrusters of the mothership and thrusters of the aerial vehicle.

[0015] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the mothership is capable of flight.

[0016] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the aerial vehicle is physically connected to the mothership by a supporting line.

[0017] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the one or more propellers are impellers that direct air to flow omnidirectionally.

[0018] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the one or more propellers each having a blade angle, and wherein the one or more propellers each having the blade angle provide an intake of air flow into the thruster assembly, and wherein the blade angle is adjusted to increase air flow.

[0019] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, the thruster assembly further including a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

[0020] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the one or more propellers each having a fixed blade, wherein the one or more propellers each having the fixed blade provide an intake of air flow into the thruster assembly.

[0021] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, the thruster assembly further including a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

[0022] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, including: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing, wherein the thruster assembly includes: an impeller, wherein the impeller directs air to flow omnidirectionally; and one or more controllable exhausts, wherein each of the one or more controllable exhausts has an exhaust side that allows air to flow out of impeller, and wherein an opening of the exhaust side increases force generated on the opened exhaust side.

[0023] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, including: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing; wherein the thrusterassembly includes: one or more propellers each having a blade angle, wherein the one or more propellers each having the blade angle provides an intake of air flow into the thruster assembly and wherein the blade angle is adjusted to increase air flow; one or more flaps, wherein the one or more flaps has an exhaust side that allows air to flow out of, and wherein an opening of the exhaust side increases force generated on the opened exhaust side; and a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

[0024] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, including: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing; wherein the thruster assembly includes: one or more propellers each having a fixed blade, wherein the one or more propellers each having the fixed blade provides an intake of air flow into the thruster assembly; one or more flaps, wherein the one or more flaps has an exhaust side that allows air to flow out of, and wherein an opening of the exhaust side increases force generated on the opened exhaust side; and a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

[0025] In some aspects, the techniques described herein relate to a system for controlling a suspended aerial vehicle system, including: a controller configured to receive information associated with a desired location of an aerial vehicle, determine a flight path for the aerial vehicle, including determining adjustments that need to be made to a length of a support line attached to the aerial vehicle, and determining adjustments that need to be made to a thruster on the aerial vehicle, and coordinate manipulation of the supporting line and manipulation of the thruster in order to position the aerial vehicle to the desired location.

[0026] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the information includes a generated position setpoint and a generated position error associated with the desired location of the aerial vehicle.

[0027] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the controller transmits information associated with actuator mapping to an actuator controller.

[0028] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the actuator controller provides inputs associated with adjustments that need to be made to a thruster on the aerial vehicle.

[0029] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, further including, estimating the desired location is based on a position sensor.

[0030] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the position sensor includes two or more position sensors.

[0031] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the adjustments that need to be made to a thruster on aerial vehicle includes controlling one or more controllable exhaust openings.

[0032] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the adjustments that need to be made to a thruster on aerial vehicle includes controlling one or more propellers.BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG. 1 illustrates an example suspended aerial vehicle system using a thruster assembly for generating thrust.

[0034] FIG. 2 illustrates another example suspended aerial vehicle system using a thruster assembly for generating thrust.

[0035] FIG. 3 illustrates another example suspended aerial vehicle system using a thruster assembly for generating thrust.

[0036] FIGS. 4A-4B illustrate an example suspended aerial vehicle system using controllable exhausts in a thruster assembly for generating thrust.

[0037] FIGS. 5A-5B illustrate another example suspended aerial vehicle system using a thruster assembly for generating thrust.

[0038] FIGS. 6A-6B illustrate another example suspended aerial vehicle system using a thruster assembly for generating thrust.

[0039] FIG. 7 illustrates an example controller system of operating the suspended aerial vehicle system.

[0040] FIG. 8 illustrates an example method of operating the suspended aerial vehicle system.

[0041] Several aspects of the disclosure here are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings in which like references indicate similar elements. It should be noted that references to "an" or “one” aspect in this disclosure are not necessarily to the same aspect, and they mean at least one. Also, in the interest of conciseness and reducing the total number of figures, a given figure may be used to illustrate the features of more than one aspect of the disclosure, and not all elements in the figure may be required for a given aspect.DETAILED DESCRIPTION

[0042] Several aspects of the disclosure with reference to the appended drawings are now explained. Whenever the shapes, relative positions and other aspects of the parts described are not explicitly defined, the scope of the invention is not limited only to the parts shown, which are meant merely for the purpose of illustration. Also, while numerous details are set forth, it is understood that some aspects of the disclosure may be practiced without these details. In other instances, well-known circuits, structures, and techniques have not been shown in detail so as not to obscure the understanding of this description.

[0043] Embodiments of the present disclosure are directed to, among other things, a thruster-stabilized suspended aerial vehicle system. The thruster-stabilized suspended aerial vehicle system may include an aerial vehicle that is connected to a support line, wherein the support line may be anchored remotely to an anchor point. In an example embodiment, the aerial vehicle system may include an unmanned aerial vehicle (UAV) or rover that is attached to a supporting line which connects the UAV to an anchor point, such that a first end of the supporting line is connected to the UAV. Although the present disclosure discusses applications where there is no human pilot onboard the aerial vehicle, it is conceivable that in aspects of the present disclosure, the aerial vehicle may have a pilot or human user onboard without departing from the inventive concept. The anchor point may include a winch system that may operably change the length of the supporting line, or winch line, that is deployed. The anchor point that the winch system is attached to may vary depending on the application. For instance, the anchor point may be a stable surface, such as the top of a building, or a mobile surface, such as a second aerial vehicle.

[0044] In some embodiments, a UAV can take the form of an aerial vehicle that does not rely on, or does not rely exclusively on, rotors for thrust generation. For instance, a UAV may contain thrusters that are directionally orientable. The thrusters may be connected to a tank or hose capable of supplying the thrusters with materials that are ejected from the thruster to provide a force. Some examples are gas-type thrusters, chemical propellants, and directed air flow blowers. It is also considered that a UAV may utilize combustion-style motors to produce thrust. It is possible to conceive of other examples of thrusters capable of producing directionally-focused propulsion without straying from the inventive concept. Thus, while the thruster assembly demonstrates an embodiment of the present disclosure, the terms “thrusters” and “thrust engine” used herein may refer to any form of directionally orientable thrust generating system known in the art.

[0045] Providing a vertical lifting force to the UAV in the form of the winch system magnifies desirable characteristics of the UAV to make it an ideal solution for wide ranging applications while addressing some core deficiencies of UAVs. The winch system allows for reduced energy consumption by the UAV, as the amount of thrust the UAV needs to produce to maintain a desired elevation is reduced or eliminated. The footprint of the UAV itself can also be reduced, such as by reducing the thruster size necessary to produce sufficient lift and by offloading from the UAV components such as a battery or a controller that are essential and could be connected via the supporting line. In addition, as the UAV does not have to be entirely self- supporting in the vertical direction, the available thrust / power in other axes (lateral and attitude control) is greatly increased.

[0046] Additionally, the versatility of the system, which may provide for various types of anchor points and UAV functionalities, allows for many applications. For example, the winch system may allow the UAV to produce thrust in unconventional directions. When the UAV is being actively suspended by the winch system, it may not be necessary for the thrusters on the UAV to provide lift in order to maintain the elevation of the UAV. The thrusters may be used to provide force in a direction perpendicular to gravity. For example, if the UAV were tasked with placing decals on a specified placement point on an exterior window of a skyscraper, the winch system may be anchored above the placement point. With the winch system supporting the UAV at the desired elevation, the thrusters on the UAV may produce a thrusting force aimed at the window that is sufficient to adhere the decal to the window. In addition, the winch system maydynamically adjust the supporting line length in order to allow traversal of the UAV in a plane orthogonal to gravity.

[0047] The UAV may be configured to perform services enabled by the ability of the UAV to effectively navigate tight airspace. For instance, the UAV may be able to deliver packages onto a balcony, potentially circumventing an overhang and constrictive enclosure. This ability allows the UAV to perform deliveries in otherwise dense and restrictive urban environments. Examples of packages that may be delivered by such means include consumer goods from a warehouse, fulfillment center, or waystation, such as books, clothing, or electronic supplies. Other examples may include point-to-point deliveries, such as food, medical equipment, and pharmaceuticals. These examples are non-limiting, as it is conceivable that the UAV may be capable of pickup and delivery of any cargo that fits within the expanded size and weight threshold achievable by the system.

[0048] Herein, the terms “unmanned aerial vehicle” and “UAV” refer to any autonomous or semi-autonomous vehicle that is capable of performing some functions without a physically-present human pilot. Examples of flight-related functions may include, but are not limited to, sensing its environment or operating in the air without a need for input from an operator, among others.

[0049] The UAV may be autonomous or semi-autonomous. For instance, some functions could be controlled by a remote human operator, while other functions are carried out autonomously. Further, a UAV may be configured to allow a remote operator to take over functions that can otherwise be controlled autonomously by the UAV. Yet further, a given type of function may be controlled remotely at one level of abstraction and performed autonomously at another level of abstraction. For example, a remote operator could control high level navigation decisions for a UAV, such as by specifying that the UAV should change locations, while the UAV's navigation system autonomously controls more fine-grained navigation decisions, such as the route selection, obstacle avoidance, and so on. Other examples are also possible.

[0050] The UAV can be of various forms. For example, a UAV may take the form of a rotorcraft such as a helicopter or multicopter, a fixed-wing aircraft, a jet aircraft, a ducted fan aircraft, a lighter-than-air dirigible such as a blimp or steerable balloon, a tail-sitter aircraft, a glider aircraft, and / or an ornithopter, among other possibilities. Further, the terms “drone”, “unmannedaerial vehicle system” (“UAVS”), or “unmanned aerial system” (“UAS”) may also be used to refer to a UAV.

[0051] The UAV may have maneuvering capabilities, such that the pitch, roll, yaw, and / or altitude of the UAV may be adjusted through various means. For example, the rotors provide propulsion and maneuverability for the UAV. More specifically, each rotor includes blades that are attached to a motor. Configured as such the rotors may allow the UAV to take off (takeoff) and land vertically, to maneuver in any direction including the lateral direction, and / or to hover. Furthermore, the pitch of the blades may be adjusted as a group and / or differentially and may allow the UAV to perform three-dimensional aerial maneuvers such as an upside-down hover, a continuous tail-down “tic-toc,” loops, loops with pirouettes, stall-turns with pirouette, knife-edge, immelmann, slapper, and traveling flips, among others. When the pitch of all blades is adjusted to perform such aerial maneuvering, this may be referred to as adjusting the “collective pitch” of the UAV. In contrast, a pitch of all blades that are stationary and nonadjustable may be referred to as “fixed pitch” of the UAV. Additionally, or alternatively, UAV may adjust the rotation rate of the rotors, collectively or differentially, in order to maneuver. For example, by maintaining a constant speed of three rotors and decreasing the speed of a fourth rotor, the UAV can roll right, roll left, pitch forward, or pitch backward, depending upon the rotor that is selected for a reduction in speed. Specifically, the UAV may roll in the direction of the rotor with the decreased speed. As another example, increasing or decreasing the speed of all rotors simultaneously can result in the UAV increasing or decreasing its altitude, respectively. As yet another example, increasing or decreasing the speed of rotors that are turning in the same direction can result in the UAV performing a yawleft or yaw-right movement. These are but a few examples of the different types of movement that can be accomplished by independently or collectively adjusting the RPM and / or the direction that rotors are spinning. Similar maneuvering may be contemplated in an embodiment that does not utilize rotors for thrust.

[0052] The UAV may also include an enclosure. The enclosure may contain and / or connect the rotors and contain other necessary or desired components, e.g., motors, control electronics such as an inertial measurement unit (IMU) and / or an electronic speed controller, batteries, other sensors, and / or a payload, among other possibilities. The UAV may include two enclosures, wherein each enclosure is configured to contain two rotors, and the enclosures are connected by an axle. However, it is contemplated that a single enclosure may contain all the rotorsof the UAV. Alternatively, three or more enclosures may be used, with each enclosure containing at least one rotor, and with each enclosure connected so as to form part of the UAV.

[0053] The axle may allow for independent rotation for each enclosure connected to the axle such that a first enclosure on a proximal end of the axle may rotate in a first direction and a second enclosure on a distal end of the axle may rotate in a second direction. Additionally, the axle may allow the first enclosure to rotate in the same direction but to a different degree or at a different speed than the second enclosure is rotated. The axle may also allow a first enclosure to remain in a static orientation while the second enclosure may rotate relative to the first enclosure. In some embodiments, the UAV may utilize multiple axles. For instance, the axles may be connected orthogonally, with each axle able to rotate independently of the other axles, such that the rotors connected to a first axle may maintain an orientation independent from the rotors connected to a second axle.

[0054] In a further aspect, the UAV may include rotor protectors. Such rotor protectors can serve multiple purposes, such as protecting the rotors from damage, protecting the UAV structure from damage, and protecting nearby objects from being damaged by the rotors. Further, the rotor protectors may serve as noise dampeners to alleviate the sound created by the high-speed rotation of the rotors. It should be understood that an embodiment that does not include rotor protectors is also possible. Further, rotor protectors of different shapes, sizes, and function are possible, without departing from the scope of the invention.

[0055] In a further aspect, the UAV may include one or more communication systems. The communications systems may include one or more wireless interfaces and / or one or more wireline interfaces, which allow UAV to communicate via one or more networks. Such wireless interfaces may provide for communication under one or more wireless communication protocols, such as Bluetooth, WiFi (e.g., an IEEE 802.11 protocol), Long-Term Evolution (LTE), WiMAX (e.g., an IEEE 802. 16 standard), a radio-frequency ID (RFID) protocol, near-field communication (NFC), and / or other wireless communication protocols. Such wireline interfaces may include an Ethernet interface, a Universal Serial Bus (USB) interface, or similar interface to communicate via a wire, a twisted pair of wires, a coaxial cable, an optical link, a fiber-optic link, or other physical connection to a wireline network.

[0056] In an example embodiment, the UAV may include communication systems that allow for both short-range communication and long-range communication. For example, the UAVmay be configured for short-range communications using Bluetooth and for long-range communications under a CDMA protocol. In such an embodiment, the UAV may be configured to function as a “hot spot;” or in other words, as a gateway or proxy between a remote support device and one or more data networks, such as cellular network and / or the Internet. Configured as such, the UAV may facilitate data communications that the remote support device would otherwise be unable to perform by itself.

[0057] For example, the UAV may provide a WiFi connection to a remote device and serve as a proxy or gateway to a cellular service provider's data network, which the UAV might connect to under an LTE or a 5G protocol, for instance. The UAV could also serve as a proxy or gateway to a high-altitude balloon network, a satellite network, or a combination of these networks, among others, which a remote device might not be able to otherwise access.

[0058] An aspect is directed toward the support line that connects to the UAV. The support line may be connected to the UAV at a first end of the support line. The support line may be made from various materials. For instance, if the support line needs to be flexible, the support line may include high tensile-strength polymeric fibers, metallic and / or synthetic cables, rope, and other materials that exhibit sufficient strength and flexibility. In another aspect, the support line may be rigid, such that the distance between the first end of the support line and a second end of the support line is substantially fixed. In yet another aspect, the support line may involve multiple rigid members, such as in a chain configuration, or in a telescoping rod configuration.

[0059] The support line may be connected to a point on the UAV that is designed to distribute some or all of the weight of the UAV into the support line. For instance, the support line may be connected directly to an element of the UAV, such as the axle, or the thruster assembly. The support line may include a snap link at the first end of the support line, which may mate with a u-bolt connection that is attached to an element of the UAV, although similar attachment means may be conceived without departing from the inventive concept. Alternatively, the support line may be connected to a specially designed support line attachment mechanism that is connected to a point on the UAV or that is connected to another member or members that are connected to the UAV. The support line may be attached to the UAV in such a manner as to allow free rotational degrees of freedom relative to the thruster assembly while maintaining the capability to take up a part or all of the gravity and inertial loads of the suspended aerial vehicle system.

[0060] The supporting line may include a conduit that connects the UAV to a source of power or data. For instance, in an embodiment where at least a portion of the power distribution system is not “onboard” the UAV, the conduit may transfer power from a power source located external to the UAV, such as at the second end of the supporting line to the UAV. In this case, the conduit may include electrical cables that connect a battery at the second end of the supporting line to an onboard power distribution system on the UAV. It is contemplated that the energy storage may be located within the onboard power distribution system, in which case a power cable within the conduit may be used to charge the onboard energy storage device, such as a battery. In another example, the conduit may carry a data-transmission wire formed of a conductive material (e.g., for conveying data-encoded electrical signals) and / or a fiber optic line (e.g., for conveying data-encoded optical signals). A central controller and / or operator, which may be located at the second end of the supporting line, may control operations of the UAV remotely by sending instructions through the signal cables to the UAV, which may have an onboard processor. Likewise, the UAV may use the signal cables to send sensor data back to the central controller and / or operator.

[0061] In some embodiments, the suspended aerial vehicle system may achieve precise positioning of the UAV relative to a mothership through variations in the length of the supporting line that are coordinated with variations in characteristics of the thrust produced by the thrusters onboard the UAV. Through coordination of the winch system and the thrusters, the UAV may be relocated from position A to position B relative to the mothership through any of various possible trajectories.

[0062] The precise positioning of the UAV described herein that is enabled by the suspended aerial vehicle system may allow the UAV to maintain a static position while the mothership changes location during the flight pattern of the mothership. For instance, a mothership that may have a flight pattern consisting of a circular holding pattern while the UAV maintains a substantially stationary position relative to a fixed reference point, such as a reference surface on the ground. Coordinated changes of the thrust engine and the winch system may reposition the UAV relative to the mothership. For example, if the mothership were taken as the fixed reference point for the UAV, such that the movement of the mothership relative to the ground is ignored, it would appear that the UAV is circling below the mothership in a similar manner to the holding pattern that the mothership exhibits in the illustration, demonstrating that the UAV may continuously adjust the thrust vector of the thrust engine while the winch system may continuouslyadjust the length of the supporting line in order to maintain a desired position relative to a fixed point. This process of continuous adjustment of the UAV position or vector may occur while the mothership is in motion such that, for example, both the UAV and the mothership are counterrotating. Thus, the UAV is capable of achieving any position within the envelope while the envelope is moving due to the mothership moving without necessitating a change in the flight pattern of the mothership. The maximum circumference of the holding pattern that the mothership may maintain while the UAV is maintaining a static position relative to the fixed reference point may be governed by a maximum length of the supporting line.

[0063] An aspect of the present disclosure may include a single UAV connected to multiple motherships. A UAV may be supported by a first mothership and a second mothership via a first supporting line and a second supporting line, respectively. Each of supporting line and supporting line may be operated by a single winch system or multiple winch systems. The length of first supporting line and second supporting line may be adjusted in coordination with the thruster system of UAV and in coordination with the flight pattern of first mothership and second mothership during operation of the suspended aerial vehicle system. The UAV may be capable of achieving substantially any position within the envelope of each mothership.

[0064] An aspect of the present disclosure may also include a control system that coordinates manipulation of the supporting line and a thrust engine in order to position the UAV at a desired location and / or orientation. The system controller may include a controller that receives various command inputs, such as a desired location of the UAV. The controller may determine the necessary adjustments that need to be made to the length of the support line through winch actuation and the thrust engine in order to move the UAV from the initial position to the desired location. The controller may direct individual thrusters or thruster assemblies within the thrust engine to produce thrust in a direction and magnitude desirable such as to achieve any position and orientation of the UAV, such that a first thruster or second thruster assembly may have a first direction and / or first magnitude and a second thruster or second thruster assembly may have a second direction and / or second magnitude. It is also considered that the orientation of the thrust produced by the thrust engine relative to the UAV may be static. The orientation of the UAV may be changed by varying the thrust produced by individual thrusters on the UAV, as well as through varying tension through the supporting line through a combination of spooling the supporting line and varying the thrust. Decreasing or increasing tension within the supporting linemay serve other purposes as well. For instance, if the UAV is traveling through a complex route, there may not be a direct line of sight between the UAV and the anchor point. In this case, the UAV may require greater “slack” within the supporting line and so the controller may decrease tension within the supporting line.

[0065] In an embodiment where the suspended aerial vehicle system includes the mothership, thrust engine may include thrusters onboard the mothership such that the system controller may coordinate and control thrusters onboard the UAV and the mothership. Thus, the system controller may coordinate manipulation of the thrust of the mothership, thrust of the UAV, and variations in the supporting line length. It is to be understood that when the system controller is coordinating variations in the length of the supporting line, thrust attributes of the mothership, and thrust attributes of the UAV, such coordination may include making no changes to the supporting line length, the thrust attributes of the mothership, and the thrust attributes of the UAV when the system controller determines that not varying any combination of the attributes mentioned is desirable, up to and including scenarios where zero thrust production from at least one of the UAV and the mothership is desirable. For instance, the system controller may dynamically manipulate the supporting line length in response to variations in the position of the UAV in order to maintain the tautness of the supporting line and to prevent jerking of the UAV. Simultaneously or concurrently, the system controller may dynamically manipulate the thrust conditions of the mothership and / or the UAV to achieve a desired position and orientation of the UAV.

[0066] FIG. 1 illustrates an example suspended aerial vehicle system using a thruster assembly for generating thrust. The thruster assembly 100 may comprise an impeller 110, a first controllable exhaust 150A, a second controllable exhaust 150B, a third controllable exhaust 150C, and a fourth controllable exhaust 150D, each controllable exhaust acting as an exhaust side. As shown in FIG. 1, the impeller 110 includes two counter-rotating impellers stacked on top of each other. In some embodiments, the impeller 110 may include two rotating impellers stacked on top of each other. In some embodiments, the thruster assembly 100 may include a single impeller (e.g., one of the two rotating impellers as shown in FIG. 1). In some embodiments, the impeller 110 may be fixed and non-rotating. In any of the embodiments, the thruster assembly 100 may comprise two or more impellers. The thruster assembly 100 may comprise less than or more than four controllable exhausts. In some embodiments, the controllable exhausts may be flaps, slats, covers,and / or openings. In some embodiments, the controllable or actuatable exhausts may be a controllable component that can control air flow (e.g., stop and start air flow from entering and / or exiting the thruster assembly). The impeller may also be referred to as a propeller.

[0067] In the example embodiment, the air may flow into the impeller 110 and be directed out omnidirectionally. In some embodiments, all four controllable exhausts may be opened, generating equal forces on each of the sides the controllable exhausts are on, providing thruster stabilization of the aerial vehicle. In other embodiments, when all four controllable exhausts are closed, the air may recirculate throughout the thruster assembly 100 and eventually be directed out an exhaust side that opens. The recirculated air may increase the total amount of thrust generated due to a back pressure.

[0068] In general operation of the aerial vehicle or rover, only one controllable exhaust or one exhaust side may be opened at a time. For example, given a surrounding environment, wind or gust may be flowing from the side of the controllable exhaust 150D. In order to maintain thrust stabilization, the parallel controllable exhaust 150B, may be opened. On the other hand, once the wind changes direction, the controllable exhaust 150D may be opened while controllable exhaust 150B may be closed. In any embodiment, the controllable exhausts may be opened and closed to control the thrust generated by the thruster assembly 100. In some embodiments, the thruster assembly 100 may further comprise one or more air intakes such as a first air intake 170A and a second air intake 170B. In some embodiments, the controllable exhausts may be positioned in various configurations such that the air may flow out in any direction. For example, the controllable exhausts may be positioned such that the air is directed out the exhaust sides in a vertical out-of-plane direction (e.g., instead of the horizontal in-plane direction shown in FIG. 1). In another example, the controllable exhausts may be positioned such that the air is directed out the exhaust sides at an angle. Although a thruster assembly having four controllable exhausts and four sides is illustrated in FIG. 1 and described in some embodiments herein, the thruster assembly in some cases include any other number of controllable exhausts and / or sides. For example, the thruster assembly may be in the shape of an octagon with eight controllable exhausts and eight sides.

[0069] FIG. 2 illustrates another example suspended aerial vehicle system using a thruster assembly 205 for generating thrust. The thruster assembly may allow for air to flow through the center of the impeller as denoted by 230A. A thruster assembly 205 may comprise twoor more impellers, where a first impeller 210 rotates clockwise while a second impeller 220 rotates counterclockwise. In some embodiments, the first impeller 210 may rotate counterclockwise, while the first impeller rotates clockwise. With the air flow flowing through the center of the impeller, the lateral air flow produced by the operation of two or more impellers may direct air flow omnidirectionally as denoted by 240A. In some embodiments, air may flow through various parts of the impeller (e.g., through the sides, horizontally, and / or at an angle). For example, in some embodiments, air may flow through an annular ring provided around the center of the impeller. In some embodiments, the configuration of the thruster assembly causes air to flow in and go out in opposite directions (180 degrees).

[0070] In some embodiments, the impeller 110 may include a top plate and a bottom plate. In some embodiments, the impeller may act as a deflector (e.g., without a top and / or bottom plate), directing the air flow by deflecting air. In some embodiments, one or more of thruster assemblies described herein include two rotating impellers stacked on top of each other, where the plate side of the impellers face each other. In other embodiments, one or more of thruster assemblies described herein include two rotating impellers stacked on top of each other, where the plate sides of the impellers face away from each other. In yet other embodiments, one or more of thruster assemblies described herein include two rotating impellers stacked on top of each other, where the plate sides of the impellers face the same direction.

[0071] FIG. 3 illustrates another example suspended aerial vehicle system using a thruster assembly 305 for generating thrust. The thruster assembly 305 may allow for air to flow through the center of the impeller as denoted by 330A. With the air flow flowing through the center of the impeller, the lateral air flow produced by the operation of one or more impellers may direct air flow omnidirectionally as denoted by 340A.

[0072] FIGS. 4A-4B illustrates an example suspended aerial vehicle system using controllable exhausts in a thruster assembly for generating thrust. In some embodiments, the thruster assembly may comprise one or more controllable exhausts to act as a side exhaust. In FIG. 4A, a controllable exhaust 405 A includes a closed exhaust 410A, and the air flowing in the thruster assembly may become recirculated air 420A. In FIG. 4B, a controllable exhaust 405B includes an open exhaust 410B, where the air flowing through the thruster assembly may exit 420B, generating thrust for the suspended aerial vehicle.

[0073] FIGS. 5A-5B illustrate another example suspended aerial vehicle system using a thruster assembly for generating thrust. In some embodiments, the thruster assembly may comprise a collective pitch control. The collective pitch control may change the pitch angle of all the rotor blades collectively (i.e., the rotor blades all change at the same time) where the rotor blades are independent of their position in the rotational cycle. In some embodiments, the thruster assembly may include one or more openings. In some embodiments, air may flow into the thruster assembly at an angle (not shown) and flow out to the exhaust sides at the same or different angle. Therefore, if a collective pitch input is made, all the blades change equally, and as a result, the suspended aerial vehicle may increase or decrease its air flow derived from the rotor. If the suspended aerial vehicle is pitched forward, an increase in total lift may produce an acceleration together with a given amount of ascent. Generally, the rotor blades can rotate to change their angle of attack to increase or decrease lift while maintaining a constant rotational speed. In any of the embodiments, thrusters may refer to rotor blades or blades.

[0074] In FIG. 5A, the thruster assembly 500A includes four openings, first exhaust side 515A, second exhaust side 516A, third exhaust side 517A, and fourth exhaust side 518A. In some embodiments, air may flow into the thruster assembly from the top (525A, 527A) or bottom (526A, 528A). In some embodiments, air may flow into the thruster assembly through an annular ring formed around the center of the thruster assembly. In some embodiments, air may flow into the thruster assembly at an angle (not shown) relative to the exhaust sides. As air flows through the thruster assembly 500A, a deflector array 510 may be used to direct air flow towards an exhaust side. In some embodiments, the deflector array 510 acts as a baffle to direct air flow. For example, if all four exhaust sides remain opened and the rotor blades (55OA, 570A) are collectively angled, there exists a nominal flow of air also known as zero lateral force. Thus, the suspended aerial vehicle may be stabilized and momentarily stopped for a predetermined period of time.

[0075] In FIG. 5B, the rotor blades may be changed independently. Based on the collective pitch control and input, the suspended aerial vehicle may maneuver in various directions. The thruster assembly 500B includes four openings, first exhaust side 515B, second exhaust side 516B, third exhaust side 517B, and fourth exhaust side 518B. In embodiments, air may flow into the thruster assembly from the top (525B, 527B) or bottom (526B, 528B). As air flows through the thruster assembly 500B, a deflector array 510 may be used to direct air flow towards an exhaust side. For example, the blade angle on both thrusters (550B, 570B) may change to produce moreair flow on the right side. Thus, there may be more flow on the first exhaust side 515B and second exhaust side 516B, generating more force denoted by F2 than the opposite side denoted by Fl. In some embodiments, air may flow in and out of the thruster assembly at various angles.

[0076] FIGS. 6A-6B illustrates another example suspended aerial vehicle system using a thruster assembly for generating thrust. In some embodiments, the thruster assembly may comprise a fixed pitch control. In contrast with a collective pitch control, blades may be set a single angle and lift is changed with rotational speed.

[0077] In FIG. 6A, the thruster assembly 600A may comprise four controllable exhausts (e.g., flaps, slats, or openings): first exhaust side 615A, second exhaust side 616A, third exhaust side 617A, and fourth exhaust side 618A. In embodiments, air may flow into the thruster assembly from the top (625A, 627A) or bottom (626A, 628A). As air flows through the thruster assembly 600 A, a deflector array 610 may be used to direct air flow towards an exhaust side. For example, if all four exhaust sides are remained closed and the rotor blades (650A, 670A) are fixed at one angle, there exists a nominal flow of air also known as zero lateral force. Thus, the suspended aerial vehicle may be stabilized and momentarily stopped for a predetermined period of time.

[0078] In FIG. 6B, the thruster assembly 600B may comprise four controllable exhausts (e.g., flaps, slats, or openings): first exhaust side 615B, second exhaust side 616B, third exhaust side 617B, and fourth exhaust side 618B. In embodiments, air may flow into the thruster assembly from the top (625B, 627B) or bottom (626B, 628B). As air flows through the thruster assembly 600B, a deflector array 610 may be used to direct air flow towards an exhaust side. For example, if two exhaust sides are opened (615B, 616B) and the rotor blades (650B, 670B) are fixed at one angle, there may be more flow on the first exhaust side 615B and second exhaust side 616B, generating more force denoted by F. In some embodiments, air may flow into and out of the thruster assembly at any angle.

[0079] FIG. 7 illustrates an example controller system 705 of operating the suspended aerial vehicle system including a controller 710, air flow system 725, and UAV / Rover System 750. The controller 710 may comprise processor 711, memory 715, manual inputs 717, manual outputs 719, transmitter / receiver 721, and communication interface 723. The controller 710 may receive various command inputs 717, such as a desired location of the UAV. The controller 710 may determine the necessary adjustments that need to be made to the air flow system 725 andUAV / rover system 750 in order to move the UAV from the initial position to the desired location. The controller 710 may direct individual thrusters or thruster assemblies within the thrust engine to produce thrust in a direction and magnitude desirable such as to achieve any position and orientation of the UAV, such that a first thruster or second thruster assembly may have a first direction and / or first magnitude and a second thruster or second thruster assembly may have a second direction and / or second magnitude. It is also considered that the orientation of the thrust produced by the thrust engine relative to the UAV may be static.

[0080] In an embodiment where the suspended aerial vehicle system includes a mothership, the thruster assembly may include thrusters onboard the mothership such that the controller 710 may coordinate and control thrusters onboard the UAV and the mothership. Thus, the system controller 710 may coordinate manipulation of the thrust of the mothership and the thrust of the UAV. Simultaneously or concurrently, the controller 710 may dynamically manipulate the thrust conditions of the mothership and / or the UAV to achieve a desired position and orientation of the UAV. In some embodiments, the system controller 710 may be included in the UAV, the mothership, a separate control station, and / or other vehicles.

[0081] The air flow system 725 may comprise a slat / flap controller 730, an impeller controller 735, and blade control 740. The UAV / rover system 750 may include a positioning system 755, a position detector / sensor 760, actuator commands 765, rover dynamics 770, actuator controller 775, and position error 780. In any of the embodiments, one or more sensors, one or more controllers, and one or more systems may be used.

[0082] The controller 710 may receive feedback (“sensor data”) from a sensor 760 that may serve any of several purposes, such as to optimize total energy output by the suspended aerial vehicle system and to perform closed loop control while positioning the UAV. For example, the sensor 760 may allow the controller 710 to calculate an optimized lift direction and magnitude that may be produced by the thrust engine. Sensor 760 may measure flight attributes of the mothership. Sensor feedback from the mothership and UAV may be used during operation of the suspended aerial vehicle system to coordinate the flight of each of the mothership and the UAV. It is conceived that these attributes may be measured or estimated indirectly. The system controller 710 may use various inputs 717 to determine optimal thrust angle and magnitude. The thrust angle may be controlled by a blade control 740.

[0083] For instance, the suspended aerial vehicle system may include a sensor that calculates wind gust direction and magnitude. The system controller 710 may direct the thrust engine to produce a counter thrust to substantially negate the effect of wind on the position of the UAV. Sensor 760 may provide other data relevant to operation of the system that may be used by the controller 710 to direct the winch actuator and thruster engine. For example, optical sensors may be used in determining whether the flight path is clear of obstacles, and if not, what alternative flight path may be clear. Sensor 760 may be embodied as a single sensor or multiple sensors, and may be located within the system, adjacent to the system, or remotely from the system while still capable of measuring attributes relevant to the operation of the system. In some embodiments, sensor 760 may include a distributed sensor.

[0084] Different aspects of the process may be conducted by one or more human users. For instance, a remote operator may determine a route for the mothership and coordinate the flight of the mothership, such as by remotely steering the mothership. Similarly, the remote operator may be able control the flight of the UAV.

[0085] The controller 710 may be embodied, at least in part, as one or more embedded or general-purpose processors, computers, processing devices, or computing devices having memory. The controller 710 may also be embodied, in part, as various functional and / or logic (e.g., computer-readable instruction, code, device, circuit, processing circuit, etc.) elements executed or operated to perform aspects of the embodiments described herein. The controller 710 may be mounted and secured within or connected to any member of the suspended aerial vehicle system. Further, the controller 710 may be located remotely from the system and may otherwise be in direct or indirect communication with the system.

[0086] In any of the embodiments, the components of the UAV / rover system 750 may communicate with the controller 710. For example, positioning system 755, position detector / sensors 760, actuator commands 765, rover dynamics 770, actuator controller 775, and position error 780 may transmit and receive information to and from the controller 710. In other embodiments, components of the air flow system may transmit and receive information to and from the controller 710. For example, the slat / flap controller 730, impeller controller 735, and blade control 740 may transmit and receive information to and from the controller 710. In some embodiments, the air flow system 725 may be associated with the UAV / rover system 750.

[0087] In some embodiments, the controller 710 is entirely in the mothership. In other embodiments, the controller 710 is entirely in the UAV. In other embodiments, the controller 710 is entirely in another entity (e.g., another mothership or another UAV, or a control unit on the ground). In yet other embodiments, the controller 710 is implemented in a distributed manner and is spread out across two or more of such entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.). Similarly, in some embodiments, one or more sensors described herein may be entirely in the mothership, entirely in the UAV, entirely in another entity (e.g., another mothership or another UAV, or a control unit on the ground), or implemented in a distributed manner and spread out across two or more of such entities (e.g., mothership, UAV, another mothership, another UAV, ground control unit, etc.).

[0088] The controller 710 may include a processor 711, a memory 715, inputs 717, outputs 719, and transmitter / receiver 721. Inputs 717 and outputs 719 may refer to a I / O device. Some or all of the components may be interconnected via a system bus. The processor 711 may be single- or multi -threaded and may have one or more cores. The processor 711 may execute instructions, such as those stored in the memory 715 and / or in the storage device. Information may be received and output using one or more of the I / O devices.

[0089] The memory 715 may store information, and may be a computer-readable medium, such as volatile or non-volatile memory. The storage device(s) may provide storage for the computer system and may be a computer-readable medium. In various embodiments, the storage device(s) may be one or more of a flash memory device, a hard disk device, an optical disk device, a tape device, or any other type of storage device.

[0090] The I / O devices may provide input / output operations for the computer system. The I / O devices may include a keyboard, a pointing device, and / or a microphone. The I / O devices may further include a display unit for displaying graphical user interfaces or communication interface 723, a speaker, and / or a printer. External data may be stored in one or more accessible external databases.

[0091] The features of the present embodiments described herein may be implemented in digital electronic circuitry, and / or in computer hardware, firmware, software, and / or in combinations thereof. Features of the present embodiments may be implemented in a computer program product tangibly embodied in an information carrier, such as a machine-readable storage device, and / or in a propagated signal, for execution by a programmable processor. Embodimentsof the present method steps may be performed by a programmable processor executing a program of instructions to perform functions of the described implementations by operating on input data and generating output.

[0092] The features of the present embodiments described herein may be implemented in one or more computer programs that are executable on a programmable system including at least one programmable processor coupled to receive data and / or instructions from, and to transmit data and / or instructions to, a data storage system, at least one input device, and at least one output device. A computer program may include a set of instructions that may be used, directly or indirectly, in a computer to perform a certain activity or bring about a certain result. A computer program may be written in any form of programming language, including compiled or interpreted languages, and it may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0093] Suitable processors for the execution of a program of instructions may include, for example, both general and special purpose processors, and / or the sole processor or one of multiple processors of any kind of computer. Generally, a processor may receive instructions and / or data from a read only memory (ROM), or a random access memory (RAM), or both. Such a computer may include a processor for executing instructions and one or more memories for storing instructions and / or data.

[0094] Generally, a computer may also include, or be operatively coupled to communicate with, one or more mass storage devices for storing data fdes. Such devices include magnetic disks, such as internal hard disks and / or removable disks, magneto-optical disks, and / or optical disks. Storage devices suitable for tangibly embodying computer program instructions and / or data may include all forms of non-volatile memory, including for example semiconductor memory devices, such as EPROM, EEPROM, and flash memory devices, magnetic disks such as internal hard disks and removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks. The processor and the memory may be supplemented by, or incorporated in, one or more ASICs (application-specific integrated circuits).

[0095] To provide for interaction with a user, the features of the present embodiments may be implemented on a computer having a display device or a communication interface 723, such as an LCD (liquid crystal display) monitor, for displaying information to the user. Thecomputer may further include a keyboard, a pointing device, such as a mouse or a trackball, and / or a touchscreen by which the user may provide input to the computer.

[0096] The features of the present embodiments may be implemented in a computer system that includes a back-end component, such as a data server, and / or that includes a middleware component, such as an application server or an Internet server, and / or that includes a front-end component, such as a client computer having a graphical user interface (GUI) and / or an Internet browser, or any combination of these. The components of the system may be connected by any form or medium of digital data communication, such as a communication network. Examples of communication networks may include, for example, a LAN (local area network), a WAN (wide area network), and / or the computers and networks forming the Internet.

[0097] The computer system may include clients and servers. A client and server may be remote from each other and interact through a network, such as those described herein. The relationship of client and server may arise by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0098] FIG. 8 illustrates an example method 800 of operating the suspended aerial vehicle system. A UAV / rover flight controller system 805 may comprise of a series of steps to control air flow within a suspended aerial vehicle system. The UAV / rover flight controller system 805 may include a setpoint where the setpoint may include a position setpoint, a velocity setpoint, and / or an acceleration setpoint. The UAV / rover flight controller system 805 may first generate a position setpoint 810 (or alternatively, a velocity setpoint and / or an acceleration setpoint). In step S801, the position setpoint 810 may initiate a position error 820. In step S802, the information associated with the position error 820 (or alternatively, a velocity error and / or an acceleration error) may be fed as a command input to a controller 830. Given these commands, the controller 830 may output force or torque commands to the actuator mapping 840 in step S803. In step S804, the actuator mapping 840 may provide actuator commands to actuator controllers 850. In step S805, the actuator controllers may apply actuator force or torque and affect the rover dynamics 860. The rover dynamics will move the suspended aerial vehicle to its rover position in step S806. To determine whether the suspended aerial vehicle has arrived at its rover position, a series of rover position sensors 870 (or alternatively, velocity sensors and / or acceleration sensors) may be used. In step S807, the rover position sensors 870 will be in constant communication with the UAV / rover flight controller system 805 to reduce position error 820.

[0099] While certain aspects have been described and shown in the accompanying drawings, it is to be understood that such are merely illustrative of and not restrictive on the broad invention, and that the invention is not limited to the specific constructions and arrangements shown and described, since various other modifications may occur to those of ordinary skill in the art.

Claims

WHAT IS CLAIMED IS:

1. A suspended aerial vehicle system, comprising: a mothership, an aerial vehicle physically connected to the mothership, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing, wherein the thruster assembly comprises: one or more propellers, wherein the one or more propellers directs air to flow in various directions; and one or more controllable exhausts, wherein each of the one or more controllable exhausts has an exhaust side that allows air to flow out of the thruster assembly, and wherein an opening of the exhaust side increases force generated on the opened exhaust side.

2. The suspended aerial vehicle system of claim 1, a controller configured to coordinate thrusters of the mothership and thrusters of the aerial vehicle.

3. The suspended aerial vehicle system of claim 1, wherein the mothership is capable of flight.

4. The suspended aerial vehicle system of claim 1, wherein the aerial vehicle is physically connected to the mothership by a supporting line.

5. The suspended aerial vehicle system of claim 1, wherein the one or more propellers are impellers that direct air to flow omnidirectionally.

6. The suspended aerial vehicle system of claim I, wherein the one or more propellers each having a blade angle, and wherein the one or more propellers each having the blade angle provide an intake of air flow into the thruster assembly, and wherein the blade angle is adjusted to increase air flow.

7. The suspended aerial vehicle system of claim 3, the thruster assembly further comprising a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

8. The suspended aerial vehicle system of claim 1, wherein the one or more propellers each having a fixed blade, wherein the one or more propellers each having the fixed blade provide an intake of air flow into the thruster assembly.

9. The suspended aerial vehicle system of claim 5, the thruster assembly further comprising a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

10. A suspended aerial vehicle system, comprising: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing, wherein the thruster assembly comprises: an impeller, wherein the impeller directs air to flow omnidirectionally; and one or more controllable exhausts, wherein each of the one or more controllable exhausts has an exhaust side that allows air to flow out of impeller, and wherein an opening of the exhaust side increases force generated on the opened exhaust side.

11. A suspended aerial vehicle system, comprising: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing; wherein the thruster assembly comprises: one or more propellers each having a blade angle, wherein the one or more propellers each having the blade angle provides an intake of air flow into the thruster assembly and wherein the blade angle is adjusted to increase air flow; one or more flaps, wherein the one or more flaps has an exhaust side that allows air to flow out of, and wherein an opening of the exhaust side increases force generated on the opened exhaust side; and a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

12. A suspended aerial vehicle system, comprising: an aerial vehicle, wherein the aerial vehicle is a rover such that the aerial vehicle generates thrust via a thruster assembly allowing takeoff and landing;wherein the thruster assembly comprises: one or more propellers each having a fixed blade, wherein the one or more propellers each having the fixed blade provides an intake of air flow into the thruster assembly; one or more flaps, wherein the one or more flaps has an exhaust side that allows air to flow out of, and wherein an opening of the exhaust side increases force generated on the opened exhaust side; and a deflector array, wherein the deflector array directs air to flow to the exhaust sides.

13. A system for controlling a suspended aerial vehicle system, comprising: a controller configured to receive information associated with a desired location of an aerial vehicle, determine a flight path for the aerial vehicle, comprising determining adjustments that need to be made to a length of a support line attached to the aerial vehicle, and determining adjustments that need to be made to a thruster on the aerial vehicle, and coordinate manipulation of the supporting line and manipulation of the thruster in order to position the aerial vehicle to the desired location.

14. The system for controlling the suspended aerial vehicle system of claim 13, wherein the information comprises a generated position setpoint and a generated position error associated with the desired location of the aerial vehicle.

15. The system for controlling the suspended aerial vehicle system of claim 14, wherein the controller transmits information associated with actuator mapping to an actuator controller.

16. The system for controlling the suspended aerial vehicle system of claim 15, wherein the actuator controller provides inputs associated with adjustments that need to be made to a thruster on the aerial vehicle.

17. The system for controlling the suspended aerial vehicle system of claim 16, further comprising, estimating the desired location is based on a position sensor.

18. The system for controlling the suspended aerial vehicle system of claim 17, wherein the position sensor comprises two or more position sensors.

19. The system for controlling the suspended aerial vehicle system of claim 13, wherein the adjustments that need to be made to a thruster on aerial vehicle comprises controlling one or more controllable exhaust openings.

20. The system for controlling the suspended aerial vehicle system of claim 13, wherein the adjustments that need to be made to a thruster on aerial vehicle comprises controlling one or more propellers.

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