US 12,258,145 B2
Suspended load stability systems and methods
Derek Sikora, Denver, CO (US); Caleb B. Carr, Commerce City, CO (US); and Logan Goodrich, Boulder, CO (US)
Assigned to Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed by VITA INCLINATA IP HOLDINGS LLC, Broomfield, CO (US)
Filed on Aug. 7, 2020, as Appl. No. 16/988,373.
Application 16/988,373 is a continuation of application No. PCT/US2019/013603, filed on Jan. 15, 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 2020/0369492 A1, Nov. 26, 2020
Int. Cl. B64D 9/00 (2006.01); B64C 17/00 (2006.01); B64D 1/08 (2006.01); B64D 1/22 (2006.01); B66D 1/48 (2006.01); G05D 1/00 (2006.01); H04W 4/02 (2018.01)
CPC B64D 9/00 (2013.01) [B64C 17/00 (2013.01); B64D 1/08 (2013.01); B64D 1/22 (2013.01); B66D 1/485 (2013.01); G05D 1/10 (2013.01); H04W 4/026 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A load stability system apparatus for controlling a motion of a load suspended via a cable from above, the apparatus comprising:
a cable attachment structure, wherein the cable attachment structure is to secure the load stability system apparatus to the cable;
a load attachment structure, wherein the load attachment structure is to secure the load below load stability system apparatus;
a sensor array;
a thruster controller;
two or more thrusters, wherein the two or more thrusters are controlled by the thruster controller;
a processor and memory operably connected to the sensor array and the thruster controller, wherein the memory comprises instructions which, when executed by the processor, cause the load stability system apparatus to determine an estimate of a state of the load stability system based on a sensor data from the sensor suite, determine a thrust application vector to move the load stability system apparatus and load toward at least one of a desired orientation, desired location, or desired relative position of the load stability system apparatus and load, use the thrust controller to output a rotational thrust from one of the two or more thrusters to orient the load stability system apparatus along the thrust application vector, and output a thrust along the thrust application vector to move the load stability system apparatus and load toward at least one of the desired location or the desired relative position; and
wherein the state comprises a position, orientation, and motion of the load stability system apparatus and wherein to determine the state of the load stability system based on the sensor data comprises to fuse and filter the sensor data in a non-linear filter.