US 11,926,415 B2
Long line loiter apparatus, system, and method
Derek Sikora, Denver, CO (US); Caleb B. Carr, Commerce City, CO (US); and Logan Goodrich, Golden, CO (US)
Assigned to Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed by Vita InClinata IP Holdings LLC
Filed on Dec. 28, 2021, as Appl. No. 17/563,583.
Application 17/563,583 is a continuation of application No. 17/330,266, filed on May 25, 2021, granted, now 11,209,836.
Application 17/330,266 is a continuation in part of application No. 17/161,388, filed on Jan. 28, 2021, granted, now 11,142,316, issued on Oct. 12, 2021.
Application 17/161,388 is a continuation in part of application No. PCT/US2020/062425, filed on Nov. 25, 2020.
Application 17/161,388 is a continuation in part of application No. 17/105,380, filed on Nov. 25, 2020, granted, now 11,142,433, issued on Oct. 12, 2021.
Application 17/105,380 is a continuation in part of application No. 16/988,373, filed on Aug. 7, 2020.
Application 16/988,373 is a continuation in part of application No. 16/988,373, filed on Aug. 7, 2020.
Application 17/161,388 is a continuation in part of application No. 16/988,373, filed on Aug. 7, 2020.
Application 16/988,373 is a continuation in part of application No. 16/935,114, filed on Jul. 21, 2020, granted, now 11,008,198, issued on May 18, 2021.
Application 16/935,114 is a continuation in part of application No. PCT/US2020/042936, filed on Jul. 21, 2020.
Application 16/988,373 is a continuation of application No. PCT/US2019/013603, filed on Jan. 15, 2019.
Application 17/161,388 is a continuation of application No. PCT/US2019/013603, filed on Jan. 15, 2019.
Application 17/105,380 is a continuation of application No. PCT/US2019/013603, filed on Jan. 15, 2019.
Claims priority of provisional application 62/966,851, filed on Jan. 28, 2020.
Claims priority of provisional application 62/940,550, filed on Nov. 26, 2019.
Claims priority of provisional application 62/931,666, filed on Nov. 6, 2019.
Claims priority of provisional application 62/876,721, filed on Jul. 21, 2019.
Claims priority of provisional application 62/757,414, filed on Nov. 8, 2018.
Claims priority of provisional application 62/627,920, filed on Feb. 8, 2018.
Prior Publication US 2022/0121225 A1, Apr. 21, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/08 (2006.01); B64C 39/02 (2023.01); B64D 1/22 (2006.01); G05D 1/00 (2006.01); G06F 18/25 (2023.01); G06K 9/62 (2022.01); G06V 20/17 (2022.01)
CPC B64C 39/024 (2013.01) [B64D 1/22 (2013.01); G05D 1/0066 (2013.01); G05D 1/0825 (2013.01); G05D 1/085 (2013.01); G06F 18/25 (2023.01); G06V 20/17 (2022.01); G05D 1/0077 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An apparatus to control a load suspended from a carrier by a long line, the apparatus comprising:
a load control system comprising a fan array and a first sensor suite configured to obtain a first state information regarding a first position, a first motion, and a first orientation of the load control system;
a hoist and a second sensor suite fastened to the carrier, wherein the hoist is to control a length of the long line extending from the hoist to the load control system and is to obtain a physical information regarding the long line extending from the hoist to the load control system and wherein the second sensor suite is to obtain a second state information regarding a second position, motion, and orientation of the carrier;
a computer processor and a memory; and wherein the memory comprises a data fusion module and an operational module, the data fusion module comprising a system model representing the load control system, the carrier, and the long line; wherein
the computer processor is configured to execute the data fusion module to determine:
a characteristics of a state of the load control system, the carrier, and the long line over time, and determine a response time among the characteristics of the state of the load control system, the carrier, and the long line over time; and execute the operational module and, based at least in part on the response time among the characteristics of the state of the load control system, the carrier, and the long line over time, control the fan array and the hoist, and output a navigation instruction to the carrier to influence one or more of the first position, the first motion, and the first orientation of the load control system relative to an objective.