Claims
- 1. A system for stabilizing and controlling in six degrees of freedom the movement of a hoisted load, said system comprising:
(a) a suspension point, (b) an assembly, (c) a lateral tension lines member, and (d) a control system, said assembly comprising
(i) a first platform for positioning said assembly, (ii) a second platform disposed below said first platform, (iii) first, second, third, fourth, fifth, and sixth control lines having a first end and a second end, said control lines disposed between said first platform and said second platform, (iv) an assembly hoist, said assembly hoist comprising first, second, and third assembly hoist lines in communication with a corresponding one of each of first, second, and third assembly hoist line length adjusters, and (v) a load hoist, said load hoist comprising a load hoist line and a load hoist line connector, said load hoist line in communication with a load hoist line length adjuster, said first platform comprising a first platform upper surface, a first platform lower surface, a first platform outer edge, load hoist line guides in slidable communication with said load hoist line, and a plurality of lateral tension line connectors for engaging a plurality of lateral tension lines for providing lateral tension to said first platform, said plurality of lateral tension lines in communication with a corresponding one of a plurality of lateral tension line length adjusters, said first platform upper surface comprising first, second, and third assembly hoist line connectors for removably engaging a corresponding one of each of the first, second, and third assembly hoist lines, said first platform lower surface comprising first, second, and third control line end connector pairs for removably engaging said first end of each of said first, second, third, fourth, fifth, and sixth control lines, said control line end connector pairs being arranged in a substantially triangular configuration on the first platform lower surface, said first control line end connector pair engaging said first and said sixth control lines, said second control line end connector pair engaging said second and said third control lines, and said third control line end connector pair engaging said fourth and said fifth control lines, said second platform comprising a second platform upper surface, a second platform lower surface, and a second platform outer edge, said second platform upper surface comprising
first, second, third, fourth, fifth, and sixth control line length adjusters for adjusting the length of each of said corresponding first, second, third, fourth, fifth, and sixth control lines, said control line length adjusters being arranged in first, second, and third control line length adjuster pairs in a substantially triangular configuration on the second platform upper surface and in communication with said second end of a corresponding one of said first, second, third, fourth, fifth, and sixth control lines, said first control line length adjuster pair comprising said first and said sixth control line length adjusters, said second control line length adjuster pair comprising said second and said third control line length adjusters, and said third control line length adjuster pair comprising said fourth and said fifth control line length adjusters, wherein said substantially triangular configuration of control line length adjuster pairs is oriented relative to said substantially triangular configuration of control line end connector pairs such that each vertex of the control line length adjuster pairs configuration is at a position diametrically opposed to a side of the control line length adjuster pairs configuration, and a load hoist receiver for removably receiving said load hoist connector, said second platform lower surface comprising a load connector for removably engaging said load.
- 2. A system for stabilizing and controlling according to claim 1, wherein said control system comprises:
(i) first, second, third, fourth, fifth, and sixth control line position sensors in communication with a controller, each of said first, second, third, fourth, fifth, and sixth control line position sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control lines for determining a position of each of said control lines, (ii) a plurality of lateral tension line position sensors in communication with said controller, each of said plurality of lateral tension line position sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a position of each of said lateral tension lines, (iii) first, second, third, fourth, fifth, and sixth tension sensors in communication with said controller, each of said first, second, third, fourth, fifth, and sixth tension sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control lines for determining a tension of each of said control lines, (iv) a plurality of lateral tension line tension sensors in communication with said controller, each of said plurality of lateral tension line tension sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a tension of each of said lateral tension lines, (v) at least one motion sensor for sensing motion of the load, said motion sensor in communication with said controller, and (vi) at least one proximity sensor for sensing the proximity of the assembly to an objective position, said proximity sensor in communication with said controller.
- 3. A system for stabilizing and controlling according to claim 2, whereby said load is stabilized and controlled by adjusting the position of any one or more of the plurality of lateral tension lines and/or of any one or more of the first, second, third, fourth, fifth, and sixth control lines.
- 4. A system for stabilizing and controlling according to claim 2, whereby said load is stabilized and controlled by adjusting the tension in any one or more of the plurality of lateral tension lines and/or in any one or more of the first, second, third, fourth, fifth, and sixth control lines.
- 5. A system for stabilizing and controlling according to claim 1, wherein said substantially triangular configuration of control line end connector pairs defines an equilateral triangle.
- 6. A system for stabilizing and controlling according to claim 1, wherein said substantially triangular configuration of control line length adjuster pairs defines an equilateral triangle.
- 7. A system for stabilizing and controlling according to claim 1, wherein said load connector is rotatable.
- 8. A system for stabilizing and controlling according to claim 1, wherein said control system comprises manual control.
- 9. A system for stabilizing and controlling according to claim 1, wherein said control system comprises automatic control.
- 10. A system for stabilizing and controlling according to claim 1, wherein said control system comprises a combination of manual and automatic control.
- 11. A system for stabilizing and controlling in six degrees of freedom the movement of a hoisted load, said system comprising:
(a) a suspension point, (b) an assembly, (c) a lateral tension lines member, and (d) a control system, said assembly comprising
(i) a first platform for positioning said assembly, (ii) a second platform disposed below said first platform, (iii) first, second, third, fourth, fifth, and sixth control lines having a first end and a second end, said control lines disposed between said first platform and said second platform, and (iv) an assembly/load hoist said assembly/load hoist comprising an assembly/load hoist line and an assembly/load hoist connector, said assembly/load hoist line in communication with an assembly/load hoist line length adjuster, said first platform comprising a first platform upper surface, a first platform lower surface, a first platform outer edge, and a plurality of lateral tension line connectors for engaging a plurality of lateral tension lines for providing lateral tension to said first platform, said plurality of lateral tension lines in communication with a corresponding one of a plurality of lateral tension line length adjusters, said first platform upper surface comprising a plurality of assembly/load hoist line connectors for removably engaging said assembly/load hoist, said first platform lower surface comprising first, second, and third control line end connector pairs for removably engaging said first end of each of said first, second, third, fourth, fifth, and sixth control lines, said control line end connector pairs being arranged in a substantially triangular configuration on the first platform lower surface, said first control line end connector pair engaging said first and said sixth control lines, said second control line end connector pair engaging said second and said third control lines, and said third control line end connector pair engaging said fourth and said fifth control lines, said second platform comprising a second platform upper surface, a second platform lower surface, and a second platform outer edge, said second platform upper surface comprising
first, second, third, fourth, fifth, and sixth control line length adjusters for adjusting the length of each of said corresponding first, second, third, fourth, fifth, and sixth control lines, said control line length adjusters being arranged in first, second, and third control line length adjuster pairs in a substantially triangular configuration on the second platform upper surface and in communication with said second end of a corresponding one of said first, second, third, fourth, fifth, and sixth control lines, said first control line length adjuster pair comprising said first and said sixth control line length adjusters, said second control line length adjuster pair comprising said second and said third control line length adjusters, and said third control line length adjuster pair comprising said fourth and said fifth control line length adjusters, wherein said substantially triangular configuration of control line length adjuster pairs is oriented relative to said substantially triangular configuration of control line end connector pairs such that each vertex of the control line length adjuster pairs configuration is at a position diametrically opposed to a side of the control line length adjuster pairs configuration, said second platform lower surface comprising a load connector for removably engaging said load.
- 12. A system for stabilizing and controlling according to claim 11, wherein said control system comprises:
(i) first, second, third, fourth, fifth, and sixth control line position sensors in communication with a controller, each of said first, second, third, fourth, fifth, and sixth control line position sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control lines for determining a position of each of said control lines, (ii) a plurality of lateral tension line position sensors in communication with said controller, each of said plurality of lateral tension line position sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a position of each of said lateral tension lines, (iii) first, second, third, fourth, fifth, and sixth tension sensors in communication with said controller, each of said first, second, third, fourth, fifth, and sixth tension sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control lines for determining a tension of each of said control lines, (iv) a plurality of lateral tension line tension sensors in communication with said controller, each of said plurality of lateral tension line tension sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a tension of each of said lateral tension lines, (v) at least one motion sensor for sensing motion of the load, said motion sensor in communication with said controller, and (vi) at least one proximity sensor for sensing the proximity of the assembly to an objective position, said proximity sensor in communication with said controller.
- 13. A system for stabilizing and controlling in six degrees of freedom the movement of a hoisted load, said system comprising:
(a) a suspension point, (b) an assembly, (c) a lateral tension lines member, and (d) a control system, said assembly comprising
(i) a platform and (ii) an assembly/load hoist, said assembly/load hoist comprising an assembly/load hoist line and an assembly/load hoist connector, said assembly/load hoist line in communication with an assembly/load hoist line length adjuster, said platform comprising a platform upper surface, a platform lower surface, a platform outer edge, and a plurality of lateral tension line connectors for engaging a plurality of lateral tension lines for providing lateral tension to said platform, said plurality of lateral tension lines in communication with a corresponding one of a plurality of lateral tension line length adjusters, said platform upper surface comprising a plurality of assembly/load hoist line connectors for removably engaging said assembly/load hoist, and said platform lower surface comprising a load connector for removably engaging said load.
- 14. A system for stabilizing and controlling according to claim 13, wherein said control system comprises:
(i) a plurality of lateral tension line position sensors in communication with a controller, each of said plurality of lateral tension line position sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a position of each of said lateral tension lines, (ii) a plurality of lateral tension line tension sensors in communication with said controller, each of said plurality of lateral tension line tension sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a tension of each of said lateral tension lines, (iii) at least one motion sensor for sensing motion of the load, said motion sensor in communication with said controller, and (iv) at least one proximity sensor for sensing the proximity of the assembly to an objective position, said proximity sensor in communication with said controller.
- 15. A system for stabilizing and controlling in six degrees of freedom the movement of a hoisted load, said system comprising:
(a) a suspension point, (b) an assembly, (c) a lateral tension lines member, and (d) a control system, said assembly comprising
(i) a first platform for positioning said assembly, (ii) a second platform disposed below said first platform, (iii) first, second, third, fourth, fifth, and sixth control lines having a first end and a second end, (iv) an assembly hoist, said assembly hoist comprising first, second, and third assembly hoist lines in communication with a corresponding one of each of first, second, and third assembly hoist line length adjusters, and (v) a load hoist, said load hoist comprising a load hoist line and a load hoist line connector, said load hoist line in communication with a load hoist line length adjuster, and said first end of each of the control lines removably connected to the load hoist line connector, said first platform comprising a first platform upper surface, a first platform lower surface, a first platform outer edge, first, second, third, fourth, fifth, and sixth control line upper guides in slidable communication with a corresponding one of each of said control lines, and a plurality of lateral tension line connectors for engaging a plurality of lateral tension lines for providing lateral tension to said first platform, said plurality of lateral tension lines in communication with a corresponding one of a plurality of lateral tension line length adjusters, said first platform upper surface comprising first, second, and third assembly hoist line connectors for removably engaging a corresponding one of each of the first, second, and third assembly hoist lines, said first platform lower surface comprising first, second, and third control line end connector pairs for removably engaging said second end of each of said first, second, third, fourth, fifth, and sixth control lines, said control line end connector pairs being arranged in a substantially triangular configuration on the first platform lower surface, said first control line end connector pair engaging said first and said sixth control lines, said second control line end connector pair engaging said second and said third control lines, and said third control line end connector pair engaging said fourth and said fifth control lines, said second platform comprising a second platform upper surface, a second platform lower surface, and a second platform outer edge, said second platform upper surface comprising
first, second, third, fourth, fifth, and sixth control line lower guides in slidable communication with a corresponding one of each of said control lines, said control line lower guides being arranged in first, second, and third control line lower guide pairs in a substantially triangular configuration on the second platform upper surface, said first control line lower guide pair comprising said first and said sixth control line lower guides, said second control line lower guide pair comprising said second and said third control line lower guides, and said third control line lower guide pair comprising said fourth and said fifth control line lower guides, wherein said substantially triangular configuration of control line lower guide pairs is oriented relative to said substantially triangular configuration of control line end connector pairs such that each vertex of the control line lower guide pairs configuration is at a position diametrically opposed to a side of the control line end connector pairs configuration, and said second platform lower surface comprising a load connector for removably engaging said load.
- 16. A system for stabilizing and controlling according to claim 15, wherein said control system comprises:
(i) a plurality of lateral tension line position sensors in communication with a controller, each of said plurality of lateral tension line position sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a position of each of said lateral tension lines, (ii) a plurality of lateral tension line tension sensors in communication with said controller, each of said plurality of lateral tension line tension sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a tension of each of said lateral tension lines, (iii) at least one motion sensor for sensing motion of the load, said motion sensor in communication with said controller, and (iv) at least one proximity sensor for sensing the proximity of the assembly to an objective position, said proximity sensor in communication with said controller.
- 17. A system for stabilizing and controlling in six degrees of freedom the movement of a hoisted load, said system comprising:
(a) a suspension point, (b) an assembly, (c) a lateral tension lines member, and (d) a control system, said assembly comprising
(i) a first platform for positioning said assembly, (ii) a second platform disposed below said first platform, (iii) first, second, third, fourth, fifth, and sixth control/load hoist lines having a first end and a second end, said first end of each of the control/load hoist lines in communication with a corresponding one of each of first, second, third, fourth, fifth, and sixth control/load hoist line length adjusters, and (iv) an assembly hoist, said assembly hoist comprising an assembly hoist line and an assembly hoist connector, said assembly hoist line in communication with an assembly hoist line length adjuster, said first platform comprising a first platform upper surface, a first platform lower surface, a first platform outer edge, first, second, third, fourth, fifth, and sixth control/load hoist line upper guides in slidable communication with a corresponding one of each of said control/load hoist lines, and a plurality of lateral tension line connectors for engaging a plurality of lateral tension lines for providing lateral tension to said first platform, said plurality of lateral tension lines in communication with a corresponding one of a plurality of lateral tension line length adjusters, said first platform upper surface comprising a plurality of assembly hoist line connectors for removably engaging said assembly hoist, said first platform lower surface comprising first, second, and third control/load line end connector pairs for removably engaging said second end of each of said first, second, third, fourth, fifth, and sixth control/load hoist lines, said control/load hoist line end connector pairs being arranged in a substantially triangular configuration on the first platform lower surface, said first control/load hoist line end connector pair engaging said first and said sixth control/load hoist lines, said second control/load hoist line end connector pair engaging said second and said third control/load hoist lines, and said third control/load hoist line end connector pair engaging said fourth and said fifth control/load hoist lines, said second platform comprising a second platform upper surface, a second platform lower surface, and a second platform outer edge, said second platform upper surface comprising first, second, third, fourth, fifth, and sixth control/load hoist line lower guides in slidable communication with a corresponding one of each of said control/load hoist lines, said control/load hoist line lower guides being arranged in first, second, and third control/load hoist line lower guide pairs in a substantially triangular configuration on the second platform upper surface, said first control/load hoist line lower guide pair comprising said first and said sixth control/load hoist line lower guides, said second control/load hoist line lower guide pair comprising said second and said third control/load hoist line lower guides, and said third control/load hoist line lower guide pair comprising said fourth and said fifth control/load hoist line lower guides, wherein said substantially triangular configuration of control/load hoist line lower guide pairs is oriented relative to said substantially triangular configuration of control/load hoist line end connector pairs such that each vertex of the control/load hoist line lower guide pairs configuration is at a position diametrically opposed to a side of the control/load hoist line end connector pairs configuration, and said second platform lower surface comprising a load connector for removably engaging said load.
- 18. A system for stabilizing and controlling according to claim 17, wherein said control system comprises:
(i) first, second, third, fourth, fifth, and sixth control/load hoist line position sensors in communication with a controller, each of said first, second, third, fourth, fifth, and sixth control/load hoist line position sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control/load hoist lines for determining a position of each of said control/load hoist lines, (ii) a plurality of lateral tension line position sensors in communication with said controller, each of said plurality of lateral tension line position sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a position of each of said lateral tension lines, (iii) first, second, third, fourth, fifth, and sixth tension sensors in communication with said controller, each of said first, second, third, fourth, fifth, and sixth tension sensors associated with a corresponding one of each of said first, second, third, fourth, fifth, and sixth control/load hoist lines for determining a tension of each of said control/load hoist lines, (iv) a plurality of lateral tension line tension sensors in communication with said controller, each of said plurality of lateral tension line tension sensors associated with a corresponding one of each of said plurality of lateral tension lines for determining a tension of each of said lateral tension lines, (v) at least one motion sensor for sensing motion of the load, said motion sensor in communication with said controller, and (vi) at least one proximity sensor for sensing the proximity of the assembly to an objective position, said proximity sensor in communication with said controller.
Parent Case Info
[0001] This application claims the benefit of U.S. Provisional Application No. 60/092,527, filed Jul. 13, 1998.
Government Interests
[0002] The invention described herein may be manufactured, used, and licensed by the U.S. Government for governmental purposes without the payment of any royalties thereon.
Provisional Applications (1)
|
Number |
Date |
Country |
|
60092527 |
Jul 1998 |
US |
Divisions (1)
|
Number |
Date |
Country |
Parent |
09350998 |
Jul 1999 |
US |
Child |
10084158 |
Feb 2002 |
US |