US 11,834,174 B2
Control of drone-load system method, system, and apparatus
Derek Sikora, Denver, CO (US); Logan Goodrich, Golden, CO (US); and Caleb B Carr, Commerce City, CO (US)
Assigned to Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed by Vita Inclinata IP Holdings LLC, Broomfield, CO (US)
Filed on Apr. 14, 2023, as Appl. No. 18/135,070.
Application 18/135,070 is a continuation of application No. 17/875,873, filed on Jul. 28, 2022.
Application 17/875,873 is a continuation of application No. PCT/US2021/015561, filed on Jan. 28, 2021.
Application PCT/US2021/015561 is a continuation 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. 16/988,373, filed on Aug. 7, 2020.
Application 16/988,373 is a continuation in part of application No. PCT/US2019/013603, filed on Jan. 15, 2019.
Application 16/988,373 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 62/757,414, filed on Nov. 8, 2018.
Claims priority of provisional application 62/627,920, filed on Feb. 8, 2018.
Prior Publication US 2023/0249820 A1, Aug. 10, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B64C 39/02 (2023.01); B64D 1/08 (2006.01); B64D 9/00 (2006.01); B64D 1/22 (2006.01); B64U 10/13 (2023.01); B64U 101/60 (2023.01)
CPC B64C 39/024 (2013.01) [B64D 1/08 (2013.01); B64D 1/22 (2013.01); B64D 9/00 (2013.01); B64U 10/13 (2023.01); B64U 2101/60 (2023.01)] 21 Claims
OG exemplary drawing
 
1. A system, comprising:
a drone, a container, and a container thruster;
wherein the drone comprises a drone thruster,
wherein the container comprises the container thruster;
wherein the container is to house a load; and
wherein the container is operatively coupled to the drone;
a sensor suite, and a computer processor and memory;
wherein the memory comprises a control module which, when executed by the computer processor, is to determine at least one of a position, orientation, or motion of the container based on sensor data from the sensor suite and is to control the container thruster to influence at least one of the position, orientation, or motion of the container
wherein to determine at least one of the position, orientation, or motion of the container based on sensor data from the sensor suite, comprises to estimate or predict a state or parameter of the container based on the sensor data; and further
wherein to estimate or predict the state or parameter of the container based on the sensor data comprises to combine the sensor data from the sensor suite in a non-linear filter according to a system model.