Suspended aerial vehicle system with multiple winches

Abstract

A suspended aerial vehicle system includes a mothership and an aerial vehicle physically connected to the mothership, wherein the aerial vehicle is physically connected to the mothership by a supporting line. The suspended aerial vehicle system also includes a multiple winch system comprising two or more winches, wherein the multiple winch system can actuate to adjust a length of the supporting line. Additionally, the suspended aerial vehicle system may include a controller configured to coordinate a distance based on the length of the supporting line between the aerial vehicle and the mothership. The present disclosure further includes a method for transporting a payload.

Description

SUSPENDED AERIAL VEHICLE SYSTEM WITH MULTIPLE WINCHESINCORPORATION 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 / 570,718, filed March 27, 2024, entitled “SUSPENDED AERIAL VEHICLE SYSTEM WITH MULTIPLE WINCHES,” 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 with multiple winches that coordinates one or more tethers or supporting lines. 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, mechanical malfunctions, and noise generation. These considerations are important in applications that could have the drones navigating dense urban environments or carrying heavyloads over great distances, such as package 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 with multiple winches augmented by one or more tethers or supporting lines connected to the aerial vehicle. The suspended aerial vehicle system with multiple winches provides a versatile solution to current challenges in the drone field that prevents dysfunctionality or inoperability due to mechanical failures while offering other benefits, such as prolonged flight time and higher load capacity over conventional drone offerings.

[0007] In an embodiment, one or more tethers or supporting lines are attached to a load-bearing point on the aerial vehicle. The supporting lines 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 multiple winch system comprising two or more winches 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. In other embodiments, the anchor point may be located inside the aerial vehicle. In the present disclosure, a tether and a supporting line may be used interchangeably.

[0008] In an embodiment, the aerial vehicle may have a multiple winch system comprising two or more winches, wherein each winch may include one or more motors. For example, in a dual winch system, a first winch and a second winch may act in concert to lower or raise the aerial vehicle. In any one of the embodiments, the aerial vehicle may be attached to a payload which may be transported and / or released onto a desired location or a drop location. In cases where one of the winches fail due to mechanical or operational failure, the multiple winch system may still continue to operate with one winch. Thus, even with a mechanical or operational failure of one of the winches, having two or more winches eliminates a single point of failure in any given multiple winch system. This allows the multiple winch system with a winch failure to continue operating and functioning with the same capabilities as if one of the winches did not fail.

[0009] In any embodiment, the aerial vehicle may be physically connected to another vehicle by the supporting line. For example, another 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.

[0010] The multiple winch system may also be configured for specific functionality. For instance, the multiple winch system may be capable of supporting the aerial vehicle attaching to payloads, releasing payloads, cleaning remote surfaces, defusing armament, or any of other various functions that are enabled by the benefits provided by the multiple winch system.

[0011] 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 physically connected to the mothership by a supporting line; a winch system including two or more winches, wherein the winch system can actuate to adjust a length of the supporting line; and a controller configured to coordinate a distance based on the length of the supporting line between the aerial vehicle and the mothership.

[0012] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the mothership is capable of flight.

[0013] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the mothership has lifting surfaces of a fixed wing aircraft and thrusters characteristic of a rotorcraft.

[0014] 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.

[0015] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the mothership supports at least a portion of weight of the aerial vehicle through the supporting line.

[0016] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the supporting line is part of the winch system that can actuate to adjust the length of the supporting line.

[0017] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, further including a dock located on the mothership that connects between the mothership and the aerial vehicle.

[0018] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, further including a second aerial vehicle physically connected to the mothership.

[0019] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the two or more winches each include of one or more pulleys, and wherein the one or more pulleys help unspool and spool the supporting line.

[0020] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the two or more winches act in concert.

[0021] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the aerial vehicle is attached to a payload and the supporting line runs through the payload.

[0022] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein one of the two or more winches fails to function and self-locks such that the two or more winches that did not fail continue to function.

[0023] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the controller is further configured to coordinate the actuation of the winch system.

[0024] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, comprising: a mothership; an aerial vehicle physically connected to the mothership by a supporting line; a winch system comprising a plurality of winches, wherein the winch system is configured to adjust a length of the supporting line; and a controller configured to: receive an indication that one or more of the plurality of winches are locked; and based on the indication, adjusting a distance between the mothership and the aerial vehicle using one or more remaining winches of the plurality of winches and without using the one or more of the plurality of winches that are locked.

[0025] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the controller is further configured to adjust control instructions transmitted to the one or more remaining winches of the plurality of winches based on the one or more of the plurality of winches being locked.

[0026] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the controller is further configured to refrain from transmitting control instructions to the one or more of the plurality of winches that are locked.

[0027] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein the controller is further configured to resume transmitting control instructions to a winch of the one or more of the plurality of winches that were locked in response to receiving an indication that the winch is no longer locked.

[0028] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein one or more of the winches are configured to self-lock upon detecting a triggering condition.

[0029] In some aspects, the techniques described herein relate to a suspended aerial vehicle system, wherein one or more of the winches are configured to provide the indication to the controller.

[0030] In some aspects, a method for transporting a payload is described herein, including: sending a mothership with an aerial vehicle in a dock located on the mothership to a drop location, wherein the aerial vehicle is carrying a payload; deploying the aerial vehicle at the drop location with a winch system, wherein the winch system is included of a first winch and a second winch; activating a first winch and a second winch to unspool a drop length of a supporting line; determining that the drop length of the supporting line between the aerial vehicle and the mothership satisfies a minimum drop distance; in response to determining that the drop length of the supporting line between the aerial vehicle and the mothership satisfies the minimum drop distance, activating aerial vehicle stabilization; determining that a payload drop height satisfies a minimum payload drop height; in response to determining that the payload drop height satisfies the minimum payload drop height, deactivating the first winch and the second winch; releasing the payload, wherein the release of the payload reactivates the first winch and the second winch to spool a dock length of the supporting line between the aerial vehicle and the mothership; determining that the dock length of the supporting line between the aerial vehicle and the mothership satisfies a minimum docking distance; in response to determining that the dock length of the supporting line between the aerial vehicle and the mothership satisfies the minimum dockingdistance, deactivating aerial vehicle stabilization; docking the aerial vehicle in the dock located on the mothership; and deactivating the first winch and the second winch.

[0031] In some aspects, the techniques described herein relate to a method for transporting a payload, wherein one of the first winch or the second winch still functions when one of the first winch or the second winch fails, wherein the winch that did not fail still functions to transport the payload.

[0032] In some aspects, the techniques described herein relate to a method for transporting a payload, wherein the winch system further includes two or more winches in multiples of two.

[0033] In some aspects, the techniques described herein relate to a system for controlling a suspended aerial vehicle system, including: a controller configured to coordinate an actuation of a winch system including a first winch and a second winch; activate, via the controller, the first winch and the second winch to unspool a drop length of a supporting line; release, via the controller, a payload onto a drop location; and deactivate, via the controller, the first winch and the second winch to spool a dock length of the supporting line.

[0034] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the controller rotates the first winch clockwise and rotates the second winch counterclockwise to lower the payload.

[0035] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the controller rotates the first winch counterclockwise and rotates the second winch clockwise to raise the payload.

[0036] In some aspects, the techniques described herein relate to a system for controlling the suspended aerial vehicle system, wherein the winch system further includes two or more winches in multiples of two.BRIEF DESCRIPTION OF THE DRAWINGS

[0037] FIG. 1A illustrates an example suspended aerial vehicle system with a multiple winch system.

[0038] FIG. IB illustrates another example suspended aerial vehicle system with a multiple winch system.

[0039] FIG. 1 C illustrates another example suspended aerial vehicle system with a multiple winch system.

[0040] FIG. 2A illustrates an example suspended aerial vehicle system with a multiple winch system to release a payload.

[0041] FIG. 2B illustrates an example suspended aerial vehicle system with a multiple winch system to release a payload subject to a winch failure.

[0042] FIG. 3 illustrates an example method of operating the suspended aerial vehicle system with the multiple winch system.

[0043] FIG. 4 illustrates an example controller system of operating the suspended aerial vehicle system with the multiple winch system.DETAILED DESCRIPTION

[0044] 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.

[0045] Embodiments of the present disclosure are directed to, among other things, a suspended aerial vehicle system with multiple winches. The suspended aerial vehicle system with multiple winches may include an aerial vehicle that is physically 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) 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 multiple 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 pointmay be a stable surface, such as the top of a building, or a mobile surface, such as a second aerial vehicle or a mothership. In some embodiments, the multiple winch system may be used with an airship (e.g., lighter-than-air vehicles). For example, the mothership described herein may be an airship. In the present disclosure, the term, aerial vehicle may be interchangeably used with the term, UAV.

[0046] Providing a vertical lifting force to the UAV in the form of the multiple 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 multiple winch system prevents complete dysfunctionality of the UAV when one of the winches fails due to mechanical, power, or other drone-related issues. For example, a winch in the multiple winch system that did not fail may still function to transport a payload to its target destination. The multiple winch system also 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.

[0047] 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 multiple winch system may comprise two or more winches. In an embodiment, if the UAV was tasked with placing decals on a specified placement point on an exterior window of a skyscraper, the multiple winch system may be anchored above the placement point. Furthermore, the multiple winch system may support the UAV to be stabilized at the desired elevation. In addition, the multiple winch system may dynamically adjust the supporting line length in order to allow traversal of the UAV in a plane orthogonal to gravity.

[0048] The UAV may also 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.

[0049] 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.

[0050] 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.

[0051] 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”, “aerial vehicle system”, “rover”, “aerial vehicle”, “unmanned aerial vehicle system” (“UAVS”), “unmanned aerial system” (“UAS”), or the likes thereof may also be used to refer to a UAV. Moreover, the terms “winch system”, “multiple winches”, “winches”, or the likes thereof may refer to a multiple winch system.

[0052] In a further aspect, UAV includes 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.

[0053] In an example embodiment, the UAV may include communication systems that allow for both short-range communication and long-range communication. For example, the UAV may 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.

[0054] For example, 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.

[0055] An aspect is directed toward the support or supporting 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.

[0056] 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 toa 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. For example, as illustrated, the supporting line may be connected to a rotary bearing that is on the axle.

[0057] 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.

[0058] FIG. 1A illustrates an example suspended aerial vehicle system 100A with a multiple winch system. An aspect of the present embodiment wherein the ends of the supporting line 140 may be substantially connected to an anchor point 105 that is located outside of the UAV 150. The anchor point 105 may be fixed to an external surface, such as a pole or the roof of a building, such that the anchor point 105 is incapable of independently changing position relative to the external surface that the anchor point 105 is attached to. The ends of the supporting line 140 may be attached to the anchor point 105. For instance, the anchor point 105 may be a hook that is bolted to the external surface, while the second end of the supporting line 140 may be fastened to the hook.

[0059] The anchor point 105 may include a mechanical device that allows the length or tension of the supporting line 140 between the first end of the supporting line 140 and the second end of the supporting line 140 to vary. An example of such a mechanical device is a multiple winchsystem, wherein the multiple winch system may include a first winch 110 and a second winch 1 15 comprising one or more pulleys to pull in (wind up) or let out (wind out) the supporting line 140 into a spool. When the spool is actuated by a motor, examples of winch types may comprise a snubbing winch, a wakeskate winch, a glider winch, and an air winch. In any of the embodiments, the UAV 150 may be attached or connected to a payload 155. The one or more pulleys may also help unspool the supporting line 140. In some embodiments, the UAV 150 may include one or more pulleys 142, 144 to help spool and unspool the supporting line 140 connected to the first winch 110 and / or the second winch 115. For example, as shown in FIG. 1A, the one or more pulleys 142, 144 of the UAV 150 may help pull in or let out the supporting line 140. In some embodiments, the one or more pulleys 142, 144 of the UAV 150 may be powered pulleys (e.g., pulleys including a motor) to help position the UAV 150. In other embodiments, the pulleys 142, 144 may be passive pulleys without the ability to spool any additional wire or supporting line at or near the respective locations of the pulleys. In some embodiments, the pulleys 142, 144 may include motors that are smaller and / or faster than the motors at the winches 110, 115. In such embodiments, the motors at the winches 110, 115 may be used for coarser adjustments of the supporting line 140, and the motors at the pulleys 142, 144 may be used for finer adjustments to the supporting line 140. By utilizing the multiple winch system, the payload 155 may be transported and / or released onto a target location. Although specific embodiments have been provided, the term “winch system” or “multiple winch system” may refer to any of various systems and means for varying the length of the supporting line 140 that may be conceived without departing from the inventive concept.

[0060] In an embodiment where the anchor point 105 includes a multiple winch system, the first winch 110 and / or the second winch 115 may be fixable. For instance, the winch system may be attached to a surface near or on the anchor point 105, either permanently or temporarily, such as by bolting the winch system to the external surface or by connecting the winch system with a pairing mechanism located on the external surface. If the suspended aerial vehicle system is to be used adjacent to a building, the first winch 110 and / or the second winch 115 may be attached on or near the top of the building. The first winch 110 and / or the second winch 115 may also be connected to a moveable support, such as a telescoping pole, allowing the location of the anchor point 105 to be moved.

[0061] In an aspect, the anchor point 105 may be temporary, changeable, or established during operation of the suspended aerial vehicle system, such as by grapnel. The anchor point 105 may be located on a conveyance that is capable of motion along a single axis relative to the stationary area. For example, the conveyance may be a track-based transportation system that can move the anchor point 105 to predetermined locations. The anchor point 105 may also be located on a conveyance that is capable of translating across a plurality of axes relative to the stationary area. For example, the conveyance may be a vehicle capable of traversing a two dimensional or three-dimensional concourse and moving the suspended aerial vehicle system to any location within range of the vehicle. In another example, the conveyance may be a motion stage, such as a gantry system. Multiple conveyances may be used within a vicinity on the stationary area, such that each of the conveyances may access portions of the same work volume.

[0062] In some embodiments, the anchor point 105 may be located on a vehicle. The vehicle may be any of a variety of land, sea, airborne, and multimodal vehicles. In the example shown, the anchor point 105 may be located on an aerial vehicle, referred to herein as a “mothership”, wherein the mothership is large enough to support some or all of the weight of the UAV 150 when the mothership is in transit. The mothership may be a pure fixed wing craft, a rotorcraft, and any other craft capable of achieving flight. Further, the mothership may be a combined / transition aircraft with both the lifting surfaces and propeller typical of a fixed wing aircraft and thrusters characteristic of a rotorcraft. The mothership configuration may have the advantage of allowing the long range cruising of a fixed-wing aircraft with the hovering and precise locating capabilities of a rotorcraft. The mothership may also have rotorcraft-enabled vertical take off and landing (VTOL) capabilities.

[0063] In some embodiments, the anchor point 105 may also be located on an underside of the mothership, although other locations for the anchor point are possible. The UAV may attach securely to the mothership when the UAV 150 is “parked,” or not in flight. The mothership may have a dock that the UAV 150 resides in when the UAV 150 is not in flight. The dock may be internal (such that the UAV 150 is stored substantially within the mothership), external (such that the UAV 150 attaches to an outer surface of the mothership), or a combination of both. The dock may include clips that securely hold the UAV 150 in place. The dock may release the UAV 150 when the UAV 150 is prepared for flight, allowing the UAV 150 to exit from the mothership. The length of the supporting line may be increased by the multiple winch system,lowering the UAV 150 from the mothership. When the UAV 150 has exited the mothership, the thrusters of the UAV 150 may activate, directing the flight of the UAV 150 solely or in coordination with the winch system. When the UAV 150 is finished with flight and ready to park, the UAV 150 may return to the mothership and attach to the dock.

[0064] FIG. IB illustrates another example suspended aerial vehicle system 100B with a multiple winch system. An aspect of the present embodiment wherein a suspended aerial vehicle system 100B may have multiple support lines. The UAV 150 may have attachment points for two or more supporting lines. The UAV 150 may also have two or more winches (e.g., four winches) connected to the two or more supporting lines 140, 145. When two or more supporting lines 140, 145 are attached to the UAV 150, the supporting lines 140, 145 may be manipulated independently or in coordination. For instance, a first supporting line 140 may be attached to a first end of the UAV 150 and a second supporting line 145 may be attached to a second end of the UAV 150. The first end of the UAV 150 may be counterbalanced by the second end of the UAV 150. For example, the first supporting line 140 may be attached or connected to the first winch 110 and the fourth winch 125 while the second supporting line 145 may be attached or connected to the second winch 115 and the third winch 120. In any one of the embodiments, the supporting lines 140, 145 may be attached or connected to any combination of the two or more winches. All four winches may be attached or connected to an anchor point 105. In any of the embodiments, the UAV 150 may be further attached or connected to a payload 155. In some embodiments, the UAV 150 may include one or more pulleys 142, 144, 146, 148 to help spool and unspool the supporting line 140 and supporting line 145. For example, as shown in FIG. IB, the one or more pulleys 144, 146 of the UAV 150 may help pull in or let out the supporting line 140. In another example, the one or more pulleys 142, 148 of the UAV 150 may help pull in or let out the supporting line 145. In some embodiments, the one or more pulleys 142, 144, 146, 148 of the UAV 150 may be powered pulleys (e.g., pulleys including a motor) to help position the UAV 150. In other embodiments, one or more pulleys 142, 144, 146, 148 may be passive pulleys without the ability to spool any additional wire or supporting line at or near the respective locations of the pulleys. In some embodiments, the pulleys 142, 144, 146, 148 may include motors that are smaller and / or faster than the motors at the winches 110, 115, 120, 125. In such embodiments, the motors at the winches 110, 115, 120, 125 may be used for coarser adjustments of the supporting line 140, and the motors at the pulleys142, 144, 146, 148 may be used for finer adjustments to the supporting line 140. By utilizing the multiple winch system, the payload may be transported and / or released onto a target location.

[0065] When it is desirable to tilt the UAV 150 such that the elevation of the first end is different from the elevation of the second end, in order to, for example, orient the UAV 150 parallel to the direction of gravity, the length of the first supporting line 140 may be changed in coordination with the length of the second supporting line 145 in order to achieve the desired operation to adjust the elevation of the first end of the UAV 150 by either lowering or raising the first end of the UAV 150 while the second supporting line 145 may be substantially static to maintain the elevation of the second end of the UAV 150 relative to the first end of the UAV 150.

[0066] FIG. 1C illustrates another example suspended aerial vehicle system 100C with a multiple winch system. In some embodiments, three supporting lines 140, 145, 147 attached to the UAV 150 may achieve greater control over the orientation of the UAV 150. It is conceivable that multiple supporting lines, wherein each supporting line is connected to one or more UAVs, may be connected to an anchor point 105. It is conceivable that all supporting lines may be manipulated by a multiple winch system. For example, the first supporting line 140 may be attached or connected to a third winch 120 and a fourth winch 125 while the second supporting line 145 may be attached or connected to a second winch 115 and a fifth winch 130. The third supporting line 147 may be attached or connected to a first winch 110 and a sixth winch 135. In any one of the embodiments, the supporting lines 140, 145, 147 may be attached or connected to any combination of the two or more winches. In some embodiments, the UAV 150 may include one or more pulleys (not shown) to help spool and unspool the supporting lines 140, 145, 147. In some embodiments, the one or more pulleys of the UAV 150 may be powered pulleys (e.g., pulleys including a motor) to help position the UAV 150. In some embodiments, the one or more pulleys of the UAV 150 may be positioned near or at any attachment point of the UAV 150. In any of the embodiments, the UAV 150 may be attached or connected to a payload 155. By utilizing the multiple winch system, the payload 155 may be transported, picked up, and / or released onto a target or desired location.

[0067] FIGS. 1 A-1C illustrate examples where two or more winches may be located at ends of a supporting line, such that the winches are “onboard” the UAV 150. One or more winches may be used for finer adjustments and one or more other winches may be used for coarser adjustments to the length of the supporting line 140. For example, the first winch 110 may conduct“finer”, or more sensitive, length corrections relative to the second winch 115, which may conduct finer adjustments of the length of the supporting line 140 relative to the third winch 120. In other embodiments, the first winch 110 may conduct “coarser”, or less sensitive, length corrections relative to the second winch 115, which may conduct coarser adjustments of the length of the supporting line 140 relative to the third winch 120. In any embodiment, winches may operate or act in concert with the same capabilities as each other. For example, in cases where one or more of the winches fail due to power electronics, motor issues, and / or mechanical issues, the remaining winch or winches may still operate at the same capacity (e.g., releasing payload 155 and docking the UAV 150 onto an anchor point 105). It is possible to contemplate additional configurations of multiple winch systems and supporting lines without straying from the inventive concept.

[0068] In some embodiments, the winches may be utilized to lower and raise the UAV 150 attached to the payload 155 by rotating the winches in a configured direction. In some embodiments, to lower a payload, a winch on a first end of the supporting line may be rotated clockwise while the winch on the second end of the supporting line may be rotated counterclockwise. In some embodiments, to raise a payload, a winch on a first end of the supporting line may be rotated counterclockwise while the winch on the second end of the supporting line may be rotated clockwise. In any of the embodiments, lowering the payload may be associated with a counterclockwise rotation while raising the payload may be associated with a clockwise rotation.

[0069] In an embodiment wherein the supporting line is connected to the multiple winch system, movement of the UAV may be adjusted along up to six degrees of freedom through changing the length of the supporting line. For example, in FIG. IB, four winches may be lined up every 90 degrees and in FIG. 1C, six winches may be lined up evenly every 60 degrees. In a four winch system, a set of dual winches (Set A) may be situated across from each other with a tether line between the two winches and another set of dual winches (Set B) orthogonal to the first set with a separate tether line in between the second set of winches. This four winch system may require a tension controller to ensure both ends of the tether are connected or attached to the payload. In any of the embodiments, the winches may be in parallel to each other. For example, in a multiple winch system, two winches may be situated side-by-side, each controlling one end of a tether together. In a situation where one of the winches fail, the other parallel winch may be capable of handling the payload by itself.

[0070] In some embodiments, an odd number of winches may be used (e.g., 3, 5, 7 or more winches). Multiple winch systems utilizing an odd number of winches may require one end of the tether to be fixed (i.e., similar to a failed winch condition).

[0071] FIG. 2A illustrates an example suspended aerial vehicle system with a multiple winch system 200A to transport and / or release a payload. In some embodiments, the suspended aerial vehicle system may comprise a first winch 210 associated with a first pulley 220 and a second winch 230 associated with a second pulley 240. The tether or supporting line 225 may be connected to the first winch 210 and the first pulley 220 on one end while the second winch 230 and second pulley 240 is attached to the supporting line 225 on the other end. In between the two winches, the supporting line 225 may run through a payload pulley 250 attached to a payload 255. In any of the embodiments, the distance between the multiple winch system and the payload may be increased or decreased by increasing or decreasing the amount of supporting line that is actively being used to support the weight of the payload, allowing for the position of the payload to be manipulated along the vertical axis.

[0072] In some embodiments, the amount of the supporting line 225 may be increased to the adjusted supporting line 245, effectively increasing the distance between the multiple winch system and the payload, to a distance based on an adjusted payload pulley 270 and an adjusted payload 275. In any of the embodiments, the payload 255 may be moved vertically and / or horizontally to a desired location or a pre-determined drop-off location and the supporting line 225 may be decreased, effectively decreasing the distance of the multiple winch system to the payload.

[0073] FIG. 2B illustrates an example suspended aerial vehicle system with a multiple winch system 200B to release a payload subject to a winch failure. In some embodiments, one or more of the winches in a multiple winch system may fail due to various mechanical, power, fuel, and / or drone-related issues. For example, in a dual winch system, the second winch 230 and / or second pulley 240 may fail and lock itself in place (e.g., causing second winch 230 to be stationary) with a winch lock 235. In some embodiments, one or more or all of the winches in the multiple winch system may include an internal winch lock that is configured to lock the corresponding winch based on certain conditions (e.g., if a mechanical or power failure is detected at the winch). The first winch 210 and first pulley 220 may still operate and function normally while the tether or supporting line 225 at the end of the second winch 230 is grounded and remained stationary. Functioning normally may refer to the same capabilities as if the multiple winch system did nothave a winch failure. For safety reasons, a multiple winch system with one or more winch failures may pick-up or release a payload at a slower speed.

[0074] In some embodiments where one or more of the winches fail in a multiple winch system, the failed winch(es) may be locked in place via the winch lock(s), allowing the winch(es) that did not fail to continue to function on the unlocked side. For example, if the second winch 230 self-locks via the winch lock 235 due to a mechanical or power failure, the first winch 210 and the first pulley 220 will still be able to increase or decrease the tension of the supporting line 225. In any of the embodiments, the functional or unlocked winch has the same payload handling capabilities as if the system comprises two functional winches.

[0075] FIG. 3 illustrates an example method 300 of operating the suspended aerial vehicle system with the multiple winch system. In some embodiments, a mothership may be situated at a desired location or drop location 305. The determination of the mothership being at the drop location 305 may trigger an aerial vehicle deployment 310, further activating two or more winch motors by unspooling 315 a supporting line or tether. A drop length of the supporting line between the aerial vehicle and the mothership may be determined to satisfy a minimum drop distance 320. The minimum drop distance may be pre-determined or preset manually or by a controller. In response to determining that the drop length of the supporting line between the aerial vehicle and the mothership satisfies the minimum drop distance, aerial vehicle stabilization 325 may be activated. Once the aerial vehicle stabilization is activated, a payload drop height may be determined to satisfy a minimum payload drop height 330. The minimum payload drop height may be pre-determined or preset manually or by a controller. In response to determining that the payload drop height satisfies the minimum payload drop height, the winch motors may operate its brakes (i.e., a person or controller may control the winch motors) and be deactivated 335. Once the winches are deactivated, a payload may be released 340. Subsequently, the release of the payload may reactivate the two or more winch motors to spool 345 a dock length of the supporting line between the aerial vehicle and the mothership. The dock length of the supporting line between the aerial vehicle and the mothership may be further determined to satisfy a minimum docking distance 350. The minimum docking distance may be pre-determined or preset manually or by a controller. In response to determining that the dock length of the supporting line between the aerial vehicle and the mothership satisfies the minimum docking distance, aerial vehicle stabilizationmay be deactivated 360. Upon stabilizing the aerial vehicle, the aerial vehicle may be docked 365 on the mothership, subsequently deactivating the winch motors 370.

[0076] FIG. 4 illustrates an example controller system 400 of operating the suspended aerial vehicle system with the multiple winch system. The example controller system 400 includes a controller 405, an aerial vehicle / UAV 440, and a winch system 460. The controller 405 comprises a processor 410, memory 415, transmitter / receiver 420, communication interface 425, inputs 430, and outputs 435. The controller 405 may receive various command inputs, such as a desired location or target location of the aerial vehicle 440. In some embodiments, the aerial vehicle 440 may comprise a payload height sensor mechanism 445, a stabilization system 450, and weather data analyzer 455. In some embodiments, the winch system 460 may comprise a motor 465, a braking system 470, distance sensor 475, spooling system 485, self-lock system 487, and power / battery system 490.

[0077] The controller 405 may further determine the necessary adjustments that need to be made to the length of the supporting line via a spooling system 485 in order to move the aerial vehicle 440 from the initial position to the desired location.

[0078] In the winch system 460, decreasing or increasing tension within the supporting line may serve other purposes as well. For instance, if the aerial vehicle 440 is traveling through a complex route, there may not be a direct line of sight between the aerial vehicle 440 and the anchor point. In this case, the aerial vehicle 440 may require greater “slack” within the supporting line and so the controller 405 may instruct the winch system 460 to decrease tension within the supporting line via motor 465, the braking system 470, and spooling system 485. In any of the embodiments, the winch system 460 may be activated or deactivated based on the distance sensor 475. If a pre-determined distance (e.g., minimum drop distance, minimum payload drop height, minimum docking distance) is met, the winch system 460 may be deactivated or activated. In some embodiments, the winches may utilize the self-lock system 487 when a mechanical failure, power failure, and / or other drone-related failures occur. In case of a winch failure, the winch system 460 may utilize the self-lock system 487 by deactivating one of the winches. The remaining functional winches may still operate normally, maintaining functionality of the aerial vehicle 440 such as releasing or picking up the payload. The aerial vehicle 440 may have the ability to dock onto an anchor point or mothership by utilizing the remaining functional winches.

[0079] In some embodiments, the aerial vehicle 440 may comprise a payload height sensor mechanism 445 which releases a payload based on a pre-determined distance between the multiple winch system and the payload. For example, the aerial vehicle 440 may include a payload attachment mechanism and a means for gripping a payload and subsequently releasing the payload at a designated location, upon signal, or upon other indicators of release. The indicator of release may be due to the payload height sensor mechanism 445 that determines a minimum payload drop height.

[0080] In some embodiments, the UAV 440 may include a payload height sensor mechanism 445 such that the UAV 440 is capable of connecting with a payload. In the embodiment shown, the payload height sensor mechanism 445 includes a platform that may secure the payload. The payload height sensor mechanism 445 may include a bracket, such as a rotary bearing or a flexure, that may attach to the platform such that the axle may be secured within the bracket and substantially connected to the platform. The bracket may allow the axle to rotate relative to the platform in a single axis or multiple axes.

[0081] The platform may include a means for gripping a payload and subsequently releasing the payload at a designated location, upon signal, or upon other indicators of release. For example, a user or controller may clip the payload to the platform using clasps that are contained by or connected to the platform. The clasps may release the payload when the UAV 440 has arrived at a delivery point. Other forms of gripping the payload are possible. For instance, the platform may include means for noncontact attachment, such as a magnetic attachment system.

[0082] The platform may also utilize a mating system, wherein clasps on the platform may interlock with an interface on the payload. The mating system may be remotely operated, i.e., a pilot may determine when the UAV 440 has arrived at a delivery point and instruct the UAV 440 to retract the clasps such that the payload may be separated from the UAV 440 and placed at the delivery point. The mating system may also operate autonomously, or without human intervention. For example, the UAV 440 may determine that the UAV 440 is at the delivery point, such as from GPS positioning or machine vision, and release the clasps on the payload, leaving the payload at the delivery point. Similarly, the UAV 440 may be used to retrieve a payload by sending the UAV 440 to a specified location, wherein the platform may be able to secure said payload. In an aspect, the platform may include an enclosure such that the payload may be secured within the enclosure prior to flight.

[0083] The platform may be connected to the axle of the UAV 440, which may enable the platform to rotate independently of the UAV 440. In an aspect of the disclosure, the payload height sensor mechanism 445 may further include means for achieving additional rotational, positional, and / or translational degrees of freedom for the payload. For instance, the payload height sensor mechanism 445 may include a gimbal mechanism that connects the platform to the payload. The gimbal mechanism may also be a slider mechanism. The additional degrees of freedom for the payload relative to the platform may be achieved passively or actively. The payload height sensor mechanism 445 may include a means for connecting the platform and the UAV 440 such that the platform and the UAV 440 may not be in direct contact. For instance, a second supporting line may connect the platform and the UAV 440, such that, for example, the platform is capable of suspending independently from the orientation of the UAV 440. In another example, the gimbaling between the UAV 440 and the payload allows independent alignment of payload from the net thrust vector of the thruster assembly, enabling precision positioning of the payload such that the payload may maintain a neutral orientation while the UAV 440 may be tilted.

[0084] In an aspect of the present disclosure, the suspended aerial vehicle system may be equipped for specified functional utilization. The UAV 440 may attach to a functional module engineered to allow the suspended aerial vehicle system to engage in a specific task or range of tasks. For example, it may be desirable to use the suspended aerial vehicle system to perform cleaning in a difficult-to-access location, such as, for example, high-rise windows, wind turbine blades, and solar panels. In another example, the module may include the software, firmware, and / or hardware that may allow the suspended aerial vehicle system to access and perform the cleaning. For instance, the cleaning module may include cleaning hardware such as a soap reservoir, water reservoir, and a squeegee or other cleaning tool, such as a pressure washing mechanism. The cleaning module may also include mechanisms that allow the UAV 440 to maintain contact with the surface, such as selectively activated suction cups. During operation, the UAV 440 may be brought to the proper elevation of the surface that is desired to be cleaned through coordination of the supporting line and thruster. It may be desirable to utilize an anchor point that is above the desired cleaning location, such as near the top of the building. For example, an anchor point may be fixed to an extended pole that is located at the top of the building. The UAV 440 may direct the thruster to produce force in a direction allowing for the UAV 440 to contact the surface with the window cleaning module while the supporting line bears a necessary amount ofthe weight of the UAV 440. The suspended aerial vehicle system may activate the cleaning module to perform the tasks necessary to bring the surface to a clean state.

[0085] Another example of a functional module could be a demolition disposal module. The demolition disposal module may include, for example, tools used by explosive defusing robots, such as a machine vision-enabled camera, an actuated arm, and a means for bomb neutralization. The UAV 440 may descend above a suspected device, determine if the device constitutes a threat, and if so, neutralize the suspected device.

[0086] In some embodiments, the UAV 440 may not include a platform. The functional module may connect directly to other elements of the UAV 440 such that the UAV 440 may be designed for a specific function, rather than having the means to provide interchangeable functionality. For example, in a configuration where the suspended aerial vehicle system is configured to combat fires, the UAV 440 may have a direct and / or permanent connection to a firehose.

[0087] In some embodiments, an aerial vehicle 440 may further comprise of a weather data analyzer 455, capable of sending and receiving signals related to the weather. For example, the controller 405 may receive weather data that may impact the flight path for the aerial vehicle 440. The controller 405 may utilize the weather data analyzer 455 in developing a new flight path.

[0088] In some embodiments, the aerial vehicle 440 may further comprise a stabilization system 450. The stabilization system 450 may be activated or deactivated based on the information transmitted and received from the controller 405. For example, a mothership may be near a drop off point, where the mothership deploys an aerial vehicle 440. This may involve the mothership transitioning from flight mode to hover mode by activating the stabilization system 450. The stabilization system 450 may be further activated when a pre-determined minimum drop distance has been satisfied. The aerial vehicle 440 may arrive at the drop off point and disengage with the payload, leaving the payload at the drop off point. After releasing the payload, aerial vehicle stabilization may be deactivated such that the aerial vehicle 440 may be recalled to the mothership.

[0089] In any of the embodiments, a reversal of this process may be used in which the system is sent to retrieve a payload from a retrieval point. The suspended aerial vehicle system may be able to deliver a payload to or recover a payload from a balcony that may be partially or substantially enclosed, such as by an overhang. The suspended aerial vehicle system, through theability to deliver and retrieve payloads from tight spaces, may similarly access specific payload sites and payload storage devices, such as parcel lockers. The payload sites and payload storage devices may be any or all of the characteristics related to automated, manual, stationary, and mobile systems.

[0090] The controller 405 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 405 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 405 may be mounted and secured within or connected to any member of the suspended aerial vehicle system. Further, the controller 405 may be located remotely from the system and may otherwise be in direct or indirect communication with the system. In some embodiments, the controller 405 is entirely in the mothership. In other embodiments, the controller 405 is entirely in the UAV. In other embodiments, the controller 405 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 405 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.).

[0091] Some or all of the components of controller 405 may be interconnected via a system bus. The processor 410 may be single- or multi -threaded and may have one or more cores. The processor 410 may execute instructions, such as those stored in the memory 415 and / or in the storage device. Information may be received via a transmitter / receiver 420, input 430, and output 435 using one or more of the I / O devices.

[0092] The memory 415 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, thestorage 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.

[0093] 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 controller 405 may further include a communication interface 425 for displaying graphical user interfaces, a speaker, and / or a printer. External data may be stored in one or more accessible external databases.

[0094] 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. Embodiments of 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.

[0095] 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.

[0096] 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.

[0097] 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 includemagnetic 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).

[0098] To provide for interaction with a user, the features of the present embodiments may be implemented on a computer having a display device, such as an LCD (liquid crystal display) monitor, for displaying information to the user. The computer 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.

[0099] 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.

[0100] 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 with each other.

[0101] It should be understood that the prior examples of functionality provided herein are not intended to be limited. The aerial vehicle 440 may be configured to provide other types of functionalities without departing from the scope of the invention.

[0102] 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 arrangementsshown 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 by a supporting line; a winch system comprising a plurality of winches, wherein the winch system is configured to adjust a length of the supporting line; and a controller configured to: receive an indication that one or more of the plurality of winches are locked; and based on the indication, adjusting a distance between the mothership and the aerial vehicle using one or more remaining winches of the plurality of winches and without using the one or more of the plurality of winches that are locked.

2. The suspended aerial vehicle system of claim 1, wherein the controller is further configured to adjust control instructions transmitted to the one or more remaining winches of the plurality of winches based on the one or more of the plurality of winches being locked.

3. The suspended aerial vehicle system of claim 1, wherein the controller is further configured to refrain from transmitting control instructions to the one or more of the plurality of winches that are locked.

4. The suspended aerial vehicle system of claim 1, wherein the controller is further configured to resume transmitting control instructions to a winch of the one or more of the plurality of winches that were locked in response to receiving an indication that the winch is no longer locked.

5. The suspended aerial vehicle system of claim 1 , wherein one or more of the winches are configured to self-lock upon detecting a triggering condition.

6. The suspended aerial vehicle system of claim 1, wherein one or more of the winches are configured to provide the indication to the controller.

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

8. The suspended aerial vehicle system of claim 1, wherein the mothership has lifting surfaces of a fixed wing aircraft and thruster characteristics of a rotorcraft.

9. The suspended aerial vehicle system of claim 1, wherein the mothership is configured to support at least a portion of weight of the aerial vehicle through the supporting line.

10. The suspended aerial vehicle system of claim 1, further comprising a dock located on the mothership that connects between the mothership and the aerial vehicle.

11. The suspended aerial vehicle system of claim 1, further comprising a second aerial vehicle physically connected to the mothership.

12. The suspended aerial vehicle system of Claim 1, wherein the plurality of winches each comprise of one or more pulleys, and wherein the one or more pulleys help unspool and spool the supporting line.

13. The suspended aerial vehicle system of Claim 1, wherein the plurality of winches act in concert.

14. A method for transporting a payload, comprising: sending a mothership with an aerial vehicle in a dock located on the mothership to a drop location, wherein the aerial vehicle is carrying a payload; deploying the aerial vehicle at the drop location with a winch system, wherein the winch system is comprised of a first winch and a second winch; activating a first winch and a second winch to unspool a drop length of a supporting line; determining that the drop length of the supporting line between the aerial vehicle and the mothership satisfies a minimum drop distance;in response to determining that the drop length of the supporting line between the aerial vehicle and the mothership satisfies the minimum drop distance, activating aerial vehicle stabilization; determining that a payload drop height satisfies a minimum payload drop height; in response to determining that the payload drop height satisfies the minimum payload drop height, deactivating the first winch and the second winch; releasing the payload, wherein the release of the payload reactivates the first winch and the second winch to spool a dock length of the supporting line between the aerial vehicle and the mothership; determining that the dock length of the supporting line between the aerial vehicle and the mothership satisfies a minimum docking distance; in response to determining that the dock length of the supporting line between the aerial vehicle and the mothership satisfies the minimum docking distance, deactivating aerial vehicle stabilization; docking the aerial vehicle in the dock located on the mothership; and deactivating the first winch and the second winch.

15. The method for transporting a payload of Claim 14, wherein one of the first winch or the second winch still functions when one of the first winch or the second winch fails, wherein the winch that did not fail still functions to transport the payload.

16. The method for transporting a payload of claim 14, wherein the winch system further comprises two or more winches in multiples of two.

17. A system for controlling a suspended aerial vehicle system, comprising: a controller configured to coordinate an actuation of a winch system comprising a first winch and a second winch; activate, via the controller, the first winch and the second winch to unspool a drop length of a supporting line; release, via the controller, a payload onto a drop location; and deactivate, via the controller, the first winch and the second winch to spool a dock length of the supporting line.

18. The system for controlling the suspended aerial vehicle system of claim 17, wherein the controller rotates the first winch clockwise and rotates the second winch counterclockwise to lower the payload.

19. The system for controlling the suspended aerial vehicle system of claim 17, wherein the controller rotates the first winch counterclockwise and rotates the second winch clockwise to raise the payload.

20. The system for controlling the suspended aerial vehicle system of claim 17, wherein the winch system further comprises two or more winches in multiples of two.

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