Long line loiter apparatus, system, and method

A method to control a load suspended from a carrier by a long line, comprising:

• with a computer processor and a memory, with a load control system comprising a fan array and a first sensor suite, wherein the load control system is to be secured to a terminus of the long line, with the carrier comprising a hoist and a second sensor suite, wherein the hoist is to control a length of the long line extending from the hoist to the load control system, and with a system model in the memory representing the load control system, the carrier, and the long line, the computer processor obtaining from the first sensor suite a first state information regarding a first position, motion, and orientation of the load control system;
• the computer processor obtaining from the second sensor suite a second state information regarding a second position, motion, and orientation of the carrier;
• the computer processor obtaining from the hoist a physical information regarding the long line extending from the hoist to the load control system;
• and the computer processor providing the system model with the first state information, the second state information, and the physical information regarding the long line extending from the hoist to the load control system;
• the computer processor determining:
• a state of the load control system, the carrier, and the long line, characteristics of the state of the load control system, the carrier, and the long line over time, and a response time among the characteristics of the state of the load control system, the carrier, and the long line over time;
• and, based on the state of the load control system, the carrier, and the long line, the characteristics of the state of the load control system, the carrier, and the long line over time, and the response time among the characteristics of the state of the load control system, the carrier, and the long line over time, the computer processor controlling the fan array and the hoist, and outputting a navigation instruction to the carrier to influence the position, motion, and orientation of the load control system relative to an objective.

One or more computer-readable media comprising instructions that cause a computer device, in response to execution of the instructions by a computer processor of the computer device, to control a load suspended from a carrier by a long line, comprising:

• with a load control system, wherein the load control system comprises a fan array and a first sensor suite, and wherein the load control system is secured to a terminus of the long line;
• with the carrier comprising a hoist and a second sensor suite, wherein the hoist is to control a length of the long line extending from the hoist to the load control system;
• and
• wherein the instructions comprise a system model, wherein the system model represents the load control system, the carrier, and the long line;
• the instructions to cause the computer device to:
• obtain from the first sensor suite a first state information regarding a first position, motion, and orientation of the load control system;
• obtain from the second sensor suite a second state information regarding a second position, motion, and orientation of the carrier;
• obtain from the hoist a physical information regarding the long line extending from the hoist to the load control system;
• provide the system model with the first state information, the second state information, and the physical information regarding the long line extending from the hoist to the load control system;
• determine based thereon:
• a state of the load control system, the carrier, and the long line, characteristics of the state of the load control system, the carrier, and the long line over time, and a response time among the characteristics of the state of the load control system, the carrier, and the long line over time;
• and, based on the state of the load control system, the carrier, and the long line, the characteristics of the state of the load control system, the carrier, and the long line over time, and 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 the position, motion, and orientation of the load control system relative to an objective.