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Method of actively controlling winch swing via modulated uptake and release

  • US 9,981,834 B2
  • Filed: 07/28/2016
  • Issued: 05/29/2018
  • Est. Priority Date: 05/19/2014
  • Status: Active Grant
First Claim
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1. A method of controlling the oscillations of a payload during descent from an unmanned aerial vehicle (UAV) comprising a winch system positioned on the aerial vehicle, the winch system including a winch line secured to the payload and to the winch system, an inertial measurement unit positioned on the payload or an end of the winch line, and a control system positioned on the UAV, comprising the steps of:

  • operating the control system to control the rate of descent of the payload in response to measurements received from the inertial measurement unit; and

    operating the control system to unwind the winch line when the payload moves towards a bottom of a swing.

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