Bidirectional thrust apparatus, system and method
A bidirectional thrust assembly comprises a motor, a selective power transfer mechanism, and a plurality of fans; wherein a change in direction of rotation of the motor causes the selective power transfer mechanism to change a torque transfer among the plurality of fans, wherein the fans may be opposing, and wherein the fans may be unidirectional. The bidirectional thrust assembly may be used in or by a plurality of craft or with respect to other objects which may need to be maneuvered, included suspended load control systems, vertical takeoff and landing craft, watercraft.
1. A suspended load control system to control a load suspended on a suspension cable beneath a carrier comprising:
a bidirectional thrust assembly comprising a motor, a driveshaft, a first fan and a second fan, wherein the first fan and the second fan are configured to propel thrust fluid and develop thrust in opposite directions, and wherein the motor is to transfer torque from the motor through the driveshaft to either the first fan or the second fan;
further comprising a sensor suite and a computer processor and memory, wherein the memory comprises a thrust control module which, when executed by the computer processor, is to determine a position, orientation, or motion of the suspended load control system based on a sensor data from the sensor suite by combining the sensor data from the sensor suite in a filter to determine a current state and is to control the motor to selectively output thrust from the first fan or the second fan and is to thereby impart a horizontal thrust vector or a torque on the suspended load control system to thereby influence at least one of the position, orientation, or motion of the suspended load control system, wherein the thrust control module further is to project future motion based on the current state with feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a fan mapping.
2. The suspended load control system according to claim 1 , wherein to control the motor to selectively output thrust from the first fan or the second fan, the thrust control module is to operate the motor in a first direction of rotation or a second direction of rotation, wherein the first direction of rotation is to cause the motor to transfer torque from the motor to the first fan and not the second fan and wherein the second direction of rotation is to cause the motor to transfer torque from the motor to the second fan and not the first fan.
3. The suspended load control system according to claim 1 , wherein a first freewheel assembly is to transfer torque between the driveshaft and the first fan and a second freewheel assembly is to transfer torque between the driveshaft and the second fan.
4. The suspended load control system according to claim 3 , wherein the first freewheel assembly and the second freewheel assembly are to engage or disengage with the driveshaft based on a direction of rotation of the motor to cause the motor to transfer torque from the motor to either the first fan or the second fan.
5. The suspended load control system according to claim 3 , wherein the first freewheel assembly comprises a pawl and a ratchet tooth, wherein the pawl is to selectively engage with the ratchet tooth in response to a rotation of the motor in a first direction of rotation and wherein the pawl is to selectively disengage with the ratchet tooth in response to a rotation of the motor in a second direction of rotation.
6. The suspended load control system according to claim 1 , wherein the driveshaft is to engage with a differential transmission, wherein the differential transmission is to selectively transfer torque from the motor through the driveshaft to either the first fan or the second fan.
7. The suspended load control system according to claim 1 , wherein the driveshaft is to engage with the first fan via a first clutch and is to engage with the second fan via a second clutch, wherein the first clutch and the second clutch are to selectively allow the first fan or the second fan to transfer torque from the motor through the driveshaft to either the first fan or the second fan.
8. The suspended load control system according to claim 1 , wherein the bidirectional thrust assembly is a first bidirectional thrust assembly, and wherein the first bidirectional thrust assembly and a second bidirectional thrust assembly are parallel to one another, horizontal to a normal gravitational field, and at distal ends of the suspended load control system.
9. The suspended load control system according to claim 1 , wherein the motor comprises a heat transfer structure, wherein the heat transfer structure is radially arrayed around the motor in a flow of thrust fluid, wherein the motor comprises magnets proximate to the driveshaft, windings distal to the driveshaft, and wherein heat produced in the windings is to transfer to the heat transfer structure and to the flow of thrust fluid surrounding the motor.
10. The suspended load control system according to claim 1 , further comprising a brake, wherein the motor is to transfer torque from the motor to a first of the first fan or the second fan and the brake is to arrest movement of a second of the first fan or the second fan.
11. A method to influence at least one of a position, orientation, or motion of a suspended load control system on a suspension cable beneath a carrier comprising:
obtaining a sensor data from a sensor suite;
combining the sensor data from the sensor suite in a filter to determine a current state comprising a position, orientation, or motion of the suspended load control system;
in response to the current state comprising the position, orientation, or motion of the suspended load control system, selectively operating a motor in a first direction of rotation to transfer torque from the motor through a driveshaft to a first unidirectional fan and selectively operating the motor in a second direction of rotation to transfer torque from the motor through the driveshaft to a second unidirectional fan;
and thereby imparting a horizontal thrust vector or a torque on the suspended load control system and influence at least one of the position, orientation, or motion of the suspended load control system; and further comprising projecting a future motion based on the current state with feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a fan mapping, and further comprising in response to the current state and the future motion, selectively operating the motor in the first direction of rotation to transfer torque from the motor through the driveshaft to the first unidirectional fan and selectively operating the motor in the second direction of rotation to transfer torque from the motor through the driveshaft to the second unidirectional fan.
12. The method according to claim 11 , wherein to transfer torque from the motor through the driveshaft comprises operating the motor in the first direction of rotation to engage a first freewheel assembly with the driveshaft to transfer torque from the motor to the first unidirectional fan and operating the motor in the second direction of rotation to engage a second freewheel assembly with the driveshaft to transfer torque from the motor to the second unidirectional fan.
13. The method according to claim 11 , wherein the motor is a first motor and the driveshaft is a first driveshaft and further comprising selectively operating a second motor in the first direction of rotation to transfer torque from the second motor through a second driveshaft to a third unidirectional fan and selectively operating the second motor in the second direction of rotation to transfer torque from the second motor through the second driveshaft to a fourth unidirectional fan.
14. The method according to claim 11 , further comprising a heat transfer structure radially arrayed around the motor in a flow of thrust fluid, wherein the motor comprises magnets proximate to the driveshaft, windings distal to the driveshaft, and wherein selectively operating the motor in the first direction of rotation to transfer torque from the motor through the driveshaft to the first unidirectional fan and selectively operating the motor in the second direction of rotation to transfer torque from the motor through the driveshaft to the second unidirectional fan further comprises producing a heat in the windings and wherein the method further comprises transferring the heat in the windings to the heat transfer structure.
15. An apparatus to control a load suspended on a suspension cable beneath a carrier comprising:
means to obtain a sensor data from a sensor suite;
means to combine the sensor data from the sensor suite in a filter to determine a current state comprising a position, orientation, and motion of the apparatus;
in response to the determined current state comprising the position, orientation, and motion of the apparatus, means to impart a horizontal thrust vector or a torque on the apparatus to influence at least one of the position, orientation, or motion of the apparatus, wherein the means to impart the horizontal thrust vector or the torque on the apparatus further comprises means to operate a first motor in a first direction of rotation to transfer torque from the first motor through a driveshaft to a first unidirectional fan and means to operate the motor in a second direction of rotation to transfer torque from the motor through the driveshaft to the second unidirectional fan and to thereby selectively output thrust from the first unidirectional fan and the second unidirectional fan; comprising means to project a future motion based on the current state with feedback from at least one of a functional mode or command state, a thrust and orientation mapping, or a fan mapping, and further comprising in response to the current state, the projected future motion, and feedback from at least one of the functional mode or command state, and the thrust and orientation mapping, means to selectively operate the motor in the first direction of rotation to transfer torque from the motor through the driveshaft to the first unidirectional fan and means to selectively operate the motor in the second direction of rotation to transfer torque from the motor through the driveshaft to the second unidirectional fan.
16. The apparatus according to claim 15 , further comprising means for a first freewheel assembly between the driveshaft and the first unidirectional fan and a second freewheel assembly between the driveshaft and the second unidirectional fan, wherein the means for the first freewheel assembly comprises means to engage with the driveshaft to transfer torque from the first motor to the first unidirectional fan when the first motor is operated in the first direction of rotation and the second freewheel assembly comprises means to engage with the driveshaft to transfer torque from the first motor to the second unidirectional fan when the first motor is operated in the second direction of rotation.
17. The apparatus according to claim 15 , further comprising means to resist a movement of at least one of the first unidirectional fan or the second unidirectional fan with a brake.