Modular suspended load control apparatuses, systems, and methods
Load control apparatuses, systems and methods to control a location, orientation, or rotation of a suspended load by imparting thrust vectors to the suspended load or to a structure that holds the load. The load control apparatuses, systems and method may be integrated into a structure that holds a load, such as a rescue litter. The load control apparatuses, systems, and methods may be modular. The modular load control apparatuses, systems, and methods may be secured to a load or to a structure that holds the load.
1. A modular load control system to influence at least one of a position, orientation, or motion of a load suspended by a cable from a carrier, comprising:
a plurality of thrusters,
a sensor suite, and
a computer processor and memory, wherein the memory comprises a thrust control module which, when executed by the computer processor, determines a position, orientation, or motion of the load based on a sensor data from the sensor suite and controls the plurality of thrusters according to the position, orientation, or motion of the load to influence at least one of the position, orientation, or motion of the load, and
further comprising a modular housing and
a housing-load securement mechanism to releasably secure the modular housing to the load,
wherein the modular housing contains at least one of a first thruster in the plurality of thrusters, a first sensor of the sensor suite, or the computer processor and memory.
2. The modular load control system according to claim 1 , wherein the housing-load securement mechanism secures the modular housing to at least one of a top, a side, or a bottom of the load and wherein the cable does not connect to the modular housing.
3. The modular load control system according to claim 1 , wherein the first sensor in the sensor suite is located on the modular housing to provide a line-of-sight view of at least one of a ground surface or the carrier.
4. The modular load control system according to claim 1 , wherein the modular housing is one of a plurality of modular housings and wherein, together, the plurality of modular housings contain all of the plurality of thrusters, the sensor suite, and the computer processor and memory.
5. The modular load control system according to claim 1 , wherein the modular housing contains all of the plurality of thrusters, the sensor suite, and the computer processor and memory.
6. The modular load control system according to claim 1 , wherein the thrust control module determines the position, orientation, or motion of the load by combining the sensor data from the sensor suite through a non-linear filter to determine a current state and wherein the thrust control module further projects near-term future motion based on the current state with feedback from at least one of a thrust and orientation mapping or a fan mapping.
7. The modular load control system according to claim 1 , wherein the housing-load securement mechanism comprises at least one of a strap, an expansion brace, a bolting track, or a set of interlocking structures.
8. The modular load control system according to claim 7 , wherein the housing-load securement mechanism comprises the set of interlocking structures, wherein the set of interlocking structures comprises a first interlocking structure secured to the load and a second interlocking structure secured to the modular housing.
9. The modular load control system according to claim 8 , wherein the first interlocking structure and the second interlocking structure physically engage with one another and, when so engaged, provide one degree of freedom of motion between the first interlocking structure and the second interlocking structure, wherein the one degree of freedom of motion allows the modular housing to be releasably secured to the load and wherein the set of interlocking structures further comprises a third interlocking structure, wherein the third interlocking structure engages with at least one of the first interlocking structure or the second interlocking structure to preclude or prohibit the one degree of freedom of motion between the first interlocking structure and the second interlocking structure.
10. A computer implemented method to influence at least one of a position, orientation, or motion of a load suspended by a cable from a carrier, comprising:
determining a position, orientation, or motion of the load based on a sensor data from a sensor suite and
controlling a plurality of thrusters according to the position, orientation, or motion of the load to influence at least one of position, orientation, or motion of the load,
wherein at least a first thruster in the plurality of thrusters, a first sensor of the sensor suite, or a computer processor and memory to perform the method are contained in a modular housing,
wherein the modular housing comprises a housing-load securement mechanism to releasably secure the modular housing to the load.
11. The method according to claim 10 , further comprising determining the position, orientation, or motion of the load by combining the sensor data from the sensor suite through a non-linear filter to determine a current state and further comprising projecting near-term future motion based on the current state with feedback from at least one of a functional mode or command state of an operational module, a thrust and orientation mapping, or a fan mapping.
12. The method according to claim 11 , wherein the functional mode or command state of the operational module comprises at least one of idle, maintain relative location or position relative to a carrier, move to a location, hold position, obstacle avoidance, or direct control.
13. The method according to claim 12 , wherein obstacle avoidance comprises at least one of determining distances of at least two sensors relative to an object and controlling the plurality of thrusters according to the position, orientation, or motion of the load to equalize the distances of the at least two sensors relative to the object or determining a geometry and a path of the load, identifying obstacles in the path of the load, determining a passage relative to the obstacles based on the geometry and path of the load, and controlling the plurality of thrusters according to the position, orientation, or motion of the load to influence the motion of the load and avoid the obstacles.
14. An apparatus for control of a motion of a load suspended by a cable from a carrier, comprising:
means comprising a computer processor and memory to determine a position, orientation, or motion of the load based on a sensor data from a sensor suite and
means to control a plurality of thrusters according to the position, orientation, or motion of the load to influence at least one of the position, orientation, or motion of the load,
wherein at least one of a first thruster in the plurality of thrusters, a first sensor of the sensor suite, or the computer processor and memory are contained in a modular housing,
further comprising means for a housing-load securement mechanism to releasably secure the modular housing to the load.
15. One or more computer-readable media comprising instructions that cause a computer device, in response to execution of the instructions by a processor of the computer device, to:
determine a position, orientation, or motion of a load suspended by a cable from a carrier based on a sensor data from a sensor suite and control a plurality of thrusters according to the position, orientation, or motion of the load to influence at least one of the position, orientation, or motion of the load,
wherein at least one of a first thruster in the plurality of thrusters, a first sensor in the sensor suite, or the computer processor and memory are contained in a modular housing,
wherein the modular housing comprises a housing-load securement mechanism to releasably secure the modular housing to the load.
16. The computer-readable media according to claim 15 , wherein the housing-load securement mechanism comprises a set of interlocking structures, wherein the set of interlocking structures comprises a first interlocking structure secured to the load and a second interlocking structure secured to the modular housing, wherein the first interlocking structure and the second interlocking structure physically engage with one another and, when so engaged, provide one degree of freedom of motion between the first interlocking structure and the second interlocking structure, wherein the one degree of freedom of motion allows the modular housing to be releasably secured to the load, and wherein the set of interlocking structures further comprises a third interlocking structure, wherein the third interlocking structure engages with at least one of the first interlocking structure or the second interlocking structure to preclude or prohibit the one degree of freedom of motion between the first interlocking structure and the second interlocking structure.
17. The computer-readable media according to claim 15 , wherein the modular housing contains all of the plurality of thrusters, the sensor suite, and the computer processor and memory.
18. The computer-readable media according to claim 17 , further comprising a first fan unit and a second fan unit, wherein the first fan unit and second fan unit contain the plurality of thrusters.
19. The computer-readable media according to claim 18 , further comprising a fan unit repositioning mechanism, wherein the fan repositioning mechanism is configured to reposition the first fan unit and second fan unit within the modular load control system.
20. The computer-readable media according to claim 15 , wherein the instructions further cause the computer device, in response to execution of the instructions by a processor of the computer device, to combine the sensor data from the sensor suite through a non-linear filter to determine a current state, wherein the current state comprises the position, orientation, or motion of the load.
21. The computer-readable media according to claim 20 , wherein the instructions further cause the computer device, in response to execution of the instructions by a processor of the computer device, to project near-term future motion based on the current state with feedback from at least one of a a thrust and orientation mapping, or a fan mapping.
22. The computer-readable media according to claim 15 , wherein the instructions further cause the computer device, in response to execution of the instructions by a processor of the computer device, to output control to the plurality of thrusters based on the fan mapping to control the plurality of thrusters to influence the motion of the load.