AN END OF A LOAD-BEARING LINE TO A DESTINATION

Background

Fall-protection systems and apparatus have found use in applications such as building construction and the like.

Summary

In broad summary, herein is disclosed a method for delivering a first end of a load-bearing line of a fall-protection apparatus to a destination, using an unmanned aerial vehicle. These and other aspects will be apparent from the detailed description below. In no event, however, should this broad summary be construed to limit the claimable subject matter, whether such subject matter is presented in claims in the application as initially filed or in claims that are amended or otherwise presented in prosecution.

Brief Description of the Drawings

Fig. 1 is a side view of an exemplary method of using an unmanned aerial vehicle (UAV) to deliver to a destination, an end of a load-bearing line of a fall-protection apparatus.

Fig. 2 is a perspective top view of an exemplary UAV.

Fig. 3 is a side view of an exemplary UAV comprising an exemplary holding device.

Fig. 4 is a side view of an exemplary holding device of a UAV, shown in the act of grasping an exemplary line fastener of a first end of a load-bearing line.

Fig. 5 is a side view of an exemplary line fastener, shown gripped by an exemplary holding device of a UAV and in the act of being fastened to an exemplary anchorage.

Fig. 6 is a side view of another exemplary line fastener, shown in the act of being fastened to an exemplary anchorage.

Fig. 7 is a side view of an exemplary destination comprising a wireless locator beacon.

Fig. 8 is a side view of an exemplary anchorage with fiduciary indicia positioned in proximity thereto.

Fig. 9 is a side view of an exemplary method of using a UAV to deliver an end of a load-bearing line of a fall-protection apparatus that is a self-retracting lifeline.

Fig. 10 is a side view of an exemplary method of using a UAV to deliver an end of a load-bearing line that is secured to a vacuum-attachable component of a fall-protection apparatus.

Like reference numbers in the various figures indicate like elements. Some elements may be present in identical or equivalent multiples; in such cases only one or more representative elements may be designated by a reference number but it will be understood that such reference numbers apply to all such identical elements. All figures and drawings in this document will be understood to be generic representations for the purpose of illustrating different embodiments of the invention and are not necessarily to scale. In fact, certain relationships (e.g. the size of an unmanned aerial vehicle (UAV) relative to that of a structure and/or of a human operator of the UAV) are exaggerated or distorted for ease of presentation. Thus, in the Figures the dimensions of the various items and components are depicted in illustrative terms only, and no relationship between the dimensions of the items and components should be inferred from the drawings, unless so indicated. Terms such as "top", bottom", "upper", lower", "under", "over", "horizontal", "vertical", and "up" and "down" will be understood to have their usual meaning with respect to the Earth. Although terms such as "outward", "inward", "first" and "second", and so on may be used in this disclosure, it should be understood that those terms are used in their relative sense only unless otherwise noted.

As used herein as a modifier to a property or attribute, the term "generally", unless otherwise specifically defined, means that the property or attribute would be readily recognizable by a person of ordinary skill but without requiring a high degree of approximation (e.g., within +/- 20 % for quantifiable properties). The term "substantially", unless otherwise specifically defined, means to a high degree of approximation (e.g., within +/- 10% for quantifiable properties). The term "essentially" means to a very high degree of approximation (e.g., within plus or minus 2 % for quantifiable properties); it will be understood that the phrase "at least essentially" subsumes the specific case of an "exact" match.

However, even an "exact" match, or any other characterization using terms such as e.g. same, equal, identical, uniform, constant, and the like, will be understood to be within the usual tolerances or measuring error applicable to the particular circumstance rather than requiring absolute precision or a perfect match.

Detailed Description

As depicted in generic representation in Fig. 1 , herein is disclosed a method of using an unmanned aerial vehicle (UAV) to deliver a first end 21 of a load-bearing line 20 to a destination 25, so that the load-bearing line can be used as part of a fall-protection apparatus. In some embodiments the method comprises providing a UAV with a first end 21 of a load-bearing line 20 connected thereto and controllably moving the UAV by self -powered aerial flight along a flight path to a destination 25, so that the load-bearing line unwinds from a line source 23 and trails from the UAV as the UAV travels along the flight path to the destination. At the destination, the first end of the load-bearing line is attached e.g. to any suitable anchorage so that the load-bearing line can serve as part of a fall-protection apparatus.

UAV 1 can be of any suitable type. The term "unmanned aerial vehicle" and the acronym "UAV" refer to any vehicle that can perform controlled aerial flight maneuvers without a human pilot physically on board (such vehicles are often referred to as "drones"). In various embodiments, a UAV may be remotely guided by a human operator or may be autonomous or semi-autonomous. For example, a UAV can be flown to a destination while under remote control by a human operator, with autonomous control taking over e.g. to home the UAV in on an anchorage at the destination and/or to perform fine movements of the UAV as may be needed in order to facilitate attachment of the first end of the load- bearing line to an anchorage. Alternatively, early portions of the flight path can be performed autonomously (e.g. by an on-board guidance system), with a human operator (remotely) taking over guidance in the final portion of the flight path. Any combination of such approaches may be used, as discussed in additional detail later herein.

UAV 1 can take any suitable form. Fig. 2 depicts, in exemplary embodiment, a UAV 1 that is a rotorcraft, often referred to as a multicopter. The particular design shown in Fig. 2 includes four rotors 2 but it will be understood that UAV 1 could have any number of rotors (e.g., two, three, five, six, and so on). Rotors 2 provide propulsion and maneuverability for UAV 1. Rotors 2 may be motor-driven; each rotor may be driven by a separate motor; or, a single motor may drive all of the rotors by way of e.g. drive shafts, belts, chains or the like. Rotors 2 are configured so that UAV 1 is able to, for example, to take off and land vertically, maneuver in any direction, and hover. The pitch of the individual rotors and/or the pitch of individual blades of specific rotors may be variable in-flight so as to facilitate three- dimensional movement of UAV 1 and to control UAV 1 along the three flight control axes (pitch, roll and yaw), as is well understood. In some embodiments, UAV 1 may include rotor protectors (e.g.

shrouds) 3. Such protectors can protect the rotors from damage and can protect nearby objects from being damaged by the rotors. Such rotor protectors, if present, can be of any suitable size and shape. In some embodiments, UAV 1 may include landing gear (not shown in any Figure) to assist with controlled take- offs and landings.

UAV 1 can comprise one or more supporting struts 4 that connect each rotor to at least one other rotor (e.g. that connect each rotor/shroud assembly to at least one other rotor/shroud assembly, as in the exemplary design of Fig. 2) and that provide overall structural rigidity to UAV 1. UAV 1 will also include (e.g. mounted on a supporting strut) control electronics 7, an associated power source (not shown), and various ancillary components as needed to operate UAV 1. The control electronics of UAV 1 and e.g. firmware and software resident therein will include at least an on-board automatic flight control system. Such a system can generate flight control instructions (that are sent e.g. to the various rotors) e.g. based on flight-control parameters autonomously calculated by an on-board guidance and/or homing system or e.g. based at least partially on input received from a remotely-located portable control station. In some embodiments the control electronics of UAV 1 may include an on-board autonomous navigation system (e.g. a GPS-based system), although this may not needed in embodiments that only involve local trips (e.g. in which a line source and a destination to which a first end of the line is to be delivered, are no more than 500 meters apart in horizontal direction).

In some embodiments UAV 1 may include one or more wireless transmission and receiving systems 6 that are capable of sending and receiving signals from a portable control station 73 operated by a user, and of relying such signals back and forth to an on-board automatic flight control system of UAV 1. In some embodiments UAV 1 may include one or more image-acquisition devices (e.g., cameras) 5 that can acquire real-time images. In some embodiments such real-time images may be wirelessly transmitted (e.g. as a continuous or quasi-continuous video stream, or as a succession of still images) by transmission/receiving system 6 to a portable control station operated by a user. This can allow the user to guide the UAV over at least a portion of the aerial flight path by operation of flight controls of the portable control station, with reference to a real-time images displayed on a display screen of the control station. In some embodiments UAV 1 (or a portable control station) may comprise image recognition and processing software so that UAV can autonomously guide itself to a destination, and/or can home in on an anchorage at the destination, without any intervention by a human operator. In some embodiments, two or more such real-time image acquisition devices may be present; one capable of scanning at least in a downward direction, and one capable of scanning at least in an upward direction. In some

embodiments, such a real-time image acquisition device may be mounted on a gimbal or swivel mount so that the device can scan upwards and downwards, and e.g. in different horizontal directions.

Any of the components mentioned above (e.g. control electronics 7, wireless transmission and receiving system 6, real-time image acquisition device(s) 5, etc.) may be located at any suitable position on UAV 1, e.g. along a supporting strut 4. Such components may be relatively exposed (e.g. as in the Figures herein); or, one or more such components may be located partially or completely within a protective housing (with a portion, or all, of the housing being transparent if it is desired e.g. to use an image acquisition device that is located within the housing).

UAV 1 comprises at least one holding device 10, as shown in generic representation in Figs. 1 and 3 (and which is not visible from the viewing perspective of Fig. 2), and as shown in detail in one exemplary embodiment in Fig. 4. Holding device 10 is configured so that it can be used to connect first end 21 of load-bearing line 20 to UAV 1. In some embodiments this connecting can be achieved by way of device 10 holding at least a portion of a line fastener 31 (visible e.g. in Figs. 4 and 5 and described in detail later herein) to which load-bearing line 20 is secured. The term "holding" is used broadly and encompasses any suitable manner or mechanism that achieves the desired connecting of first end 21 of line 20 to UAV 1. For example, in some embodiments device 10 may be equipped with two or more actuatable arms (e.g. claws, pincers or grippers) which can act in combination (e.g., which can tighten toward each other) to a grip line fastener, as discussed later in detail. However, in other embodiments device 10 may include one or more appendages (e.g. an end of a hook or the like) that simply extend through an aperture of a line fastener, e.g. so that the line fastener hangs or dangles loosely from device 10. All that is required is that device 10 be able to hold a line fastener in such manner as to allow first end 21 of line 20 to remain connected to UAV 1 during the aerial flight of UAV 1 to a desired destination. In some embodiments, holding device 10 and components thereof (e.g. arms, appendages, claws or the like) may be spaced away from supporting struts 4 of UAV 1, e.g. by way of one or more extenders 12 as shown in generic representation in Fig. 3.

A line fastener 31 of line 20 may be any device to which line 20 can be secured so that line fastener 31 effectively provides first end 21 of line 20. (Such arrangements can simplify the process of attaching first end 21 to an anchorage 40.) In some embodiments, line fastener 31 may comprise a metal loop with at least one aperture extending therethrough, as shown in generic representation in Fig. 4 and as shown in specific exemplary embodiment in Fig. 5 (noting that Figs. 4 and 5 are isolated views with other components of UAV 1 being omitted for ease of presentation, and noting also that the side view of Fig. 5 is rotated 90 degrees relative to the side view of Fig. 4). Line fastener 31 may comprise a through- aperture 34 (e.g. an eyelet) through which line 20 may be threaded and then fastened (either to itself, or to some part of fastener 31) in any manner suitable to secure line 20 to line fastener 31. Line fastener 31 may also comprise a through-aperture 32 which is configured to engage with an anchorage 40 as described in detail later herein. In some embodiments (e.g. as shown in Figs. 4 and 5), apertures 34 and 32 may be separate apertures; in other embodiments they may be portions of a single aperture. In some embodiments line fastener 31 may be self-engaging, meaning that fastener 31 may be engaged (e.g. to an anchorage or harness) merely by pressing fastener 31 against a suitable component of the anchorage or harness. In further embodiments line fastener 31 may be self-locking, meaning that fastener 31, once engaged, cannot be disengaged merely by moving fastener 31 in any direction. Examples of line fasteners that are self -engaging include e.g. snap hooks of the general type comprising a hinged gate 33 (as seen in Fig. 5), carabiners, and the like. Such devices may also be self -locking e.g. if the hinged gate is biased (e.g. spring-loaded) so as to snap back shut after allowing passage of a component through the gap created when the gate is opened.

As noted above, the manner in which holding device 10 holds line fastener 31 is not limited. Thus in some embodiments holding device 10 may comprise an open-sided hook that can be passed through an aperture of a line fastener 31 , from which hook the line fastener can hang until UAV 1 reaches a desired destination. At a desired time the hook can be moved in a direction that disengages the hook from line fastener 31, e.g. by controlled aerial movement of UAV 1, and/or by actuating the hook.

In some embodiments, holding device 10 may comprise two or more arms 11 as shown in exemplary embodiment in Fig. 4. Such arms may be actuatable (e.g. by one or more motors 14) so that their distal ends can be moved toward each other (e.g. in the directions indicated by the block arrows in Fig. 4) to grip a line fastener 31 as shown in generic representation in Fig. 5. In some embodiments, at least one arm 11 may comprise an inwardly-extending spur 13, which spur may itself be articulable (e.g. may be pivotally moved about a hinged connection between spur 13 and arm 11). Two such spurs 13 may be provided, and may extend laterally inwardly toward each other so that, for example, arms 11 may be pivotally moved inward to causes spurs 13 to approach each other. In some embodiments, terminal ends of spurs 13 may contact laterally-opposing surfaces of some solid portion of line fastener 31 to grasp line fastener 31. In other embodiments, one or both spurs 13 may extend into an aperture 32 of line fastener 31 (and may end up overlapping each other) in the manner indicated in Fig. 4. Any of these, or any combination of these, will be suitable as long as it allows first end 21 of line 20 to be connected to UAV 1 in a manner that allows UAV 1 to move along a flight path without first end 21 of line 20 becoming disconnected from UAV 1. Arms 11 may be movable away from each other in order to disengage from fastener 31 to release first end 21 of line 20 from its connection with UAV 1 when desired. In some embodiments, at least one spur 13 may be hingedly connected to an arm 11 and may be pivotally articulable about this hinged connection, e.g. so that the spur 13 can be rotated e.g. toward an obtuse angle with respect to arm 11 to assist in disengaging holding device 10 from line fastener 31.

As noted above, a line fastener 31 of line 20 can be any suitable device, e.g. a snaphook, a carabiner, a D-ring, and the like; fastener 31 may be self-engagable (e.g. to an anchorage or a harness) in some embodiments and may be self -locking in further embodiments. Components of line fastener 31 may be made of any suitable material, e.g. metal such as stainless steel. Load-bearing line 20 itself may take any suitable form as long as it meets the definition of load-bearing as used herein. By load-bearing is meant that in ordinary use of a fall-protection apparatus with which line 20 is used (after being delivered to a destination and after being attached e.g. to an anchorage or a harness by the methods disclosed herein), line 20 is capable of bearing a load imparted by a human user of the fall-protection apparatus. It will be appreciated that in various embodiments (e.g., when used to arrest a fall, or when used to position a user) line 20, and the fall-protection apparatus as a whole, may at times bear a load that is somewhat less than, or greater than, the actual weight of a human user. The term load-bearing does not imply that line 20 must bear a load imparted by a human user (e.g., must bear the weight of the user) user during transportation of first end 21 of line 20 by UAV 1. However, a load-bearing line 20 as disclosed herein is specifically distinguished from a leader (sometimes referred to as a "P-line") that is a lightweight line that is not load-bearing as defined herein and that is only used to establish initial contact with an elevated anchorage and to allow an actual load-bearing line that is to be used with a fall-protection apparatus, to be pulled to the elevated anchorage.

Load-bearing line 20 may take any form and may be made of any suitable material. In some embodiments, line 20 may take the form of a metal cable, e.g. a twisted or braided metal cable. In other embodiments, line 20 may take the form of a rope comprised of twisted or braided organic polymeric strands, plies, or fibers. Such a rope may be comprised of e.g. polyester, polyamide, and the like, and in particular embodiments may be comprised of aramid fibers. In various embodiments, line 20 may exhibit a minimum breaking strength of at least about 310, 900, 1800, 3600, 5000, 5400, 7000, or 9000 lb _f . In many embodiments, line 20 may exhibit an at least generally circular cross-section. In other

embodiments, at least the first end 21 of line 20 may take the form of a flat lanyard (e.g. that is coupled to a length of rope or cable that provides the majority of the length of line 20). It will be appreciated by this and other discussions herein that by a "first end" 21 of line 20 is not meant merely the final terminus of such a line; rather, a first end can include an end section of line 20 and can further include a line connector 31 as described above. It will also be appreciated that the concept of a line 20 can embrace multisegment arrangements (e.g. a lanyard joined to a rope). Any such arrangements are possible. Line 20 may have any suitable total length. In various embodiments, line 20 may have a total length that is no more than 20, 30, 50, 85, 100, 130, 175, 200, 300, or 500 feet. Load-bearing line 20 may be secured to line fastener 31 (as shown in generic representation in Figs. 4-6) in any suitable manner. (Often, line fastener 31 may remain with line 20 over the life of the fall-protection apparatus unless replaced; if so, the securing of line 20 to fastener 31 may be e.g.

permanent or quasi-permanent rather than being configured for quick release in the field.) In some embodiments, a terminal section of line 20 may be passed through an aperture 34 (e.g. an eyebolt) of fastener 31 and formed into a loop with the terminal section being joined to a penultimate section of line 20 e.g. by splicing (e.g. to form an eye-splice), by sewing, or by being joined thereto by a ferrule or sheath 26 (as in the exemplary arrangement depicted in Fig. 5), or being held in position in any suitably secure manner. If desired, a thimble (protective shroud) may be provided at least along interior portions of the thus-formed loop in line 20 e.g. for enhanced abrasion resistance. In some embodiments, a terminal section of line 20 may be secured to an auxiliary fastening device (e.g. a clip or buckle) which auxiliary fastening device is then secured to line fastener 31. Whatever the specific arrangement, line fastener 31, if present, can serve as the first end 21 of load-bearing line 20 that is connected to UAV 1 and that is then later attached to anchorage 40.

As noted, in some embodiments a first end 21 of load-bearing line 20 may be attached to an anchorage 40, as shown in various exemplary embodiments in Fig. 1. An anchorage 40 is a manmade entity rather than a natural feature; in some embodiments an anchorage 40 can be provided inherently by some manmade item or component (e.g. by a beam or girder of a building under construction). In other embodiments, an anchorage 40 may take the form of a component (or an assembly of components) provided for the specific purpose of establishing an anchorage. For example, as shown in exemplary generic representation in Fig. 5, an anchorage 40 may comprise an anchorage ring 41 that is secured to a support 43 (e.g. a support plate), which support 43 is itself secured (e.g. by bolts, rivets, or welding) to an entity 70 that is a structure or a component thereof (e.g. a girder or beam of a building, of a tower, or of any manmade structure).

An anchorage ring 41 may exhibit any suitable shape that comprises at least one aperture 42 to facilitate attachment of first end 21 of line 20 thereto; a "ring" 41 is not limited to being e.g. circular in shape (e.g., it may comprise a D-ring as is well-known). An anchorage ring 41 may be made of any suitable material, e.g. metal. In some embodiments an anchorage ring 41 may be hingedly secured to a support plate 43 so that ring 41 is pivotally movable relative to plate 43. In other embodiments an anchorage ring 41 may be rigidly secured to plate 43 e.g. so that ring 43 protrudes from a structure 70 at a fixed orientation and/or distance.

The orientation of an anchorage 40, and in particular of an anchorage ring 41 thereof, relative to a structure 70 is not particularly limited. Various potential locations of an anchorage 40 and of an anchorage ring 41 thereof are depicted in exemplary embodiment in Fig. l. In some embodiments, an anchorage 40 may be located on the underside of a structure (e.g. a beam) e.g. with ring 41 protruding generally downward therefrom. Or, an anchorage 40 may be located on the top side of a structure e.g. with ring 41 protruding generally upward therefrom. In specific embodiments, an anchorage 40 may be located at or near a lateral edge of the top side of a structure, as in the exemplary depiction of Fig. 1. Still further, an anchorage 40 may be located on the side of a structure e.g. with ring 41 protruding generally horizontally therefrom. All such configurations, variations, and combinations thereof are possible (for example, an anchorage located at a top edge of a structure might comprise a ring extending upward, outward, downward and then inward e.g. to form a three-quarter loop extending the top edge of the structure). It will be appreciated that in order to attach first end 21 of a load-bearing line 20 to any such anchorage 40 (e.g., in order to engage a line fastener 31 of first end 21 of line 20 with an anchorage ring 41), UAV 1 and holding device 10 thereof can be configured in any suitable manner. For instance, rather than using an extender 12 that extends at least generally downward in the manner shown in generic representation in Fig. 3, such an extender 12 could extend at least generally upward (e.g. as in the exemplary arrangement of Fig. 9, discussed later herein), could extend at least generally sideways (horizontally), or could extend at any desired angle. In some embodiments, such an extender 12 could be articulable (e.g. it could be comprised of two or more sections that are hingedly connected to each other). Any such arrangements are possible.

A line fastener 31 as held by holding device 10 of UAV 1, and an anchorage 40 of a destination, may be configured to engage with each other in any suitable manner. In some embodiments (as shown in exemplary embodiment in Fig. 5) line fastener 31 may be a self -engaging hook (e.g. a snaphook) and an anchorage 40 may comprise an anchorage ring 41 that is a D-ring with an aperture 42 configured to receive a portion of hook 31. In such case, UAV 1 may be maneuvered (and, optionally, holding device 10 of UAV 1 manipulated) to bring hook 31 into contact with D-ring 41 so that hinged gate 33 of hook 31 deflects to allow a portion of D-ring 41 to enter aperture 32 of hook 31, with a portion of hook 31 likewise entering aperture 42 of D-ring 41. (Strictly speaking, hinged gate 33 may not deflect to the position shown in Fig. 5 until a solid portion of anchorage ring 41 physically contacts gate 33.) Gate 33 may then close and lock to finish the attaching of hook 31 to D-ring 41 of anchorage 40.

In such embodiments, holding device 10 may comprise arms 11 that grasp opposing surfaces of e.g. some solid portion of a shank of hook 31 (as shown in generic representation in Fig. 5) to hold hook 31 during flight of UAV 1 and while hook 31 is being attached to anchorage 40. Arms 11 can then be separated or retracted so that holding device 10 releases hook 31 thus disconnecting first end 21 of line 20 from UAV 1. (It will be appreciated that in many embodiments, a line fastener 31 may be

simultaneously attached to an anchorage 40, and connected (via holding device 10) to UAV 1, for at least a short time until holding device 10 releases line fastener 31.)

In some particular embodiments, specific components of line fastener 31 and/or anchorage 40 may be configured to facilitate the engaging of line fastener 31 to anchorage 40. Thus as shown in generic representation in Fig. 6, line fastener 31 and anchorage 40 may respectively comprise mating portions 35 and 45 that must be aligned with each other along a unique alignment axis in order to be engaged with each other. UAV 1 can be maneuvered (and/or holding device 10 can be manipulated by UAV 1) to achieve this alignment. After alignment is achieved, portion 35 of line fastener 31 may be moved along this alignment axis (in a direction indicated by the block arrow of Fig. 6, e.g. by maneuvering UAV 1 and/or by manipulating holding device 10) toward portion 45 of anchorage 40 sufficiently far to engage mating portions 35 and 45 with each other. Portion 35 of line fastener 31 may thus e.g. click or snap into place within portion 45 of anchorage (with e.g. one or more releasable collar members of portion 45 being actuated to clamp portion 35 securely in place within portion 45) to result in line fastener 31 being attached to anchorage 40. It will be appreciated that the design depicted in Fig. 6 is a generic representation and that any suitable arrangement is possible (for example, the "male" and "female" roles of portions 35 and 45 could be swapped if desired).

It is noted that in all embodiments described herein, holding device 10 of UAV 1, regardless of its particular design, merely acts to hold first end 21 of line 20 during the aerial flight of UAV 1 ; UAV 1 and in particular holding device 10 thereof are not configured so that line 20 can e.g. unwind or unspool from UAV 1 during ordinary operation of UAV 1. The arrangements and methods disclosed herein are thus distinguished from UAVs that comprise e.g. retractable payload delivery systems.

As noted, a first end 21 of line 20 is connected to UAV 1 (either manually by a user, or in an operation performed by UAV 1). UAV 1 can then be launched into aerial flight at a flight origin 24. In many embodiments, flight origin 24 may be in close proximity to, or the same as, the location at which line 20 is connected to UAV 1. However, in some embodiments UAV 1 (e.g. with first end 21 of line 20 already connected thereto) may be moved (e.g. manually carried) to a different location before launching. As UAV departs origin 24 and follows a flight path toward destination 25, line 20 will unwind from a line source 23, as shown in exemplary generic representation in Fig. 1. The terms "line source" and "unwind" are used broadly and can encompass a wide variety of arrangements. For example, a line source 23 could be a reel or spool about which line 20 was originally wound and from which line 20 unrolls in a regular and smooth manner as UAV 1 follows its flight path. However, a line source 23 could merely be a length of line 20 that is simply present on a surface (e.g. piled on the ground) e.g. in an irregular or jumbled manner, or contained in a receptacle such as a bag or box. The disengaging of line 20 from any such pile or container as UAV 1 follows its flight path falls within the definition of

"unwind" as used herein. In many embodiments, a second end of line 20 will remain at or near line source 23 during the flight of UAV 1 to destination 25 (in other words, in such embodiments a second end of line 20 will not e.g. dangle loosely from UAV 1 during the flight).

A flight origin 24 at which first end 21 of line 20 is connected to UAV 1 may often be, but does not have to be, in close proximity to line source 23 from which line 20 is unwound as UAV 1 flies toward destination 25. Furthermore, after first end 21 of line 20 has been attached to an anchorage 40 at a destination 25 as disclosed herein, any portion of line 20 that is still at line source 23 does not necessarily have to remain there. In other words, a second end of line 20 may be moved away from line source 23 to a location more convenient for operation of the fall-protection apparatus that line 20 is to be used with.

UAV 1 may be operated in any desired manner, ranging from completely human guidance to completely autonomous self-guidance to a combination of the two. In some embodiments, a human user may manually guide UAV 1 to a desired destination 25 by flight maneuvers facilitated e.g. by a real-time stream of visual images on a display screen of a portable control station operated by the user. In further embodiments, the user may then guide (e.g., by flight maneuvers on a more fine scale) UAV 1 to home in on an anchorage 40 of destination 25 and/or can maneuver UAV 1 (and/or remotely manipulate holding device 10) to cause the first end 21 of line 20 to be attached to the anchorage. In some embodiments, any or all of these operations may be carried out autonomously by UAV 1, meaning that a human user may merely need to order UAV 1 to perform the desired tasks with UAV 1 then carrying out some or all of the specific flight operations. It is noted that by autonomous is meant that no active intervention by a human user is needed. Control circuitry (including e.g. hardware, software, firmware and so on) that performs such autonomous operations may be located wholly on -board UAV 1 ; or, at least some portion of these operations may be carried out e.g. at a base unit with flight-control instructions being transmitted to UAV 1.

In some embodiments, UAV 1 may be self -guided, meaning that UAV 1 travels from flight origin 24 to destination 25 without intervention by a human user. In some embodiments this may be facilitated or assisted by a wireless locator beacon 46 located at least proximate destination 25 (as shown in generic exemplary embodiment in Fig. 7) and that broadcasts a signal (e.g. by electromagnetic waves) that can be received (directly or indirectly) and used by UAV 1 for navigation. In some embodiments, UAV 1, once it reaches destination 25 (and whether or not it is self-guided to destination 25 or is navigated thereto by a user), may home in on anchorage 40 (meaning that it performs fine-scale aerial maneuvers so as to get into a specific position and orientation in which first end 21 of line 20 can be connected to anchorage 40) autonomously or by way of a human operator/user. Thus in some embodiments a human operator may monitor the position of UAV 1 e.g. by way of a visual image on a screen of a remote control station and may send movement instructions to UAV 1 as needed (the actual instructions that will be sent e.g. to the various rotors of UAV 1 will be performed autonomously by flight-control circuitry of UAV 1). In other embodiments, UAV 1 can performs such operations autonomously; in some instances these may be performed by using real-time imagery in the same manner as would be performed by a human operator. (That is, in such embodiments UAV 1 may comprise e.g. image -processing capability that enable it to recognize anchorage 40 and components thereof, to recognize its distance from anchorage 40 and its orientation relative to anchorage 40, and to maneuver accordingly.) In some embodiments, one or more fiduciary indicia 44 may be located at least proximate anchorage 40 (as shown in generic exemplary embodiment in Fig. 8) and that can be readily imaged and used (whether by a human operator or autonomously by UAV 1) to allow UAV 1 to perform fine-scale aerial maneuvers to home in on anchorage 40. It is noted that any such image -processing capability of UAV 1 , and/or any provided fiduciary indicia, may in some embodiments function e.g. at least partly in the infrared spectrum rather than in visible light wavelengths.

Many variations of such methods and devices to facilitate aerial flight of UAV 1 to a destination 25 and to permit UAV to home in on a specific item (e.g. an anchorage) at a destination are possible. For example, in some embodiments a wireless locator beacon could be located at a known distance and orientation from an anchorage 40, so that such a beacon could facilitate the homing-in of UAV 1 e.g., to an anchorage 40 rather than merely guiding UAV 1 to the destination. In various embodiments, UAV 1 may include any other suitable sensor(s) or other device that can facilitate navigation and/or homing in. For example, UAV 1 may include one or more ranging/proximity sensors (e.g. short-range radar, ultrasonic proximity detectors, and so on) to detect the distance e.g. from an anchorage 40; one or more barometric-pressure sensors to detect e.g. the altitude; one or more accelerometers, inertial-guidance navigation systems, GPS systems, and so on.

UAV 1 may follow any suitable flight path from flight origin 24 to destination 25. Such a flight path may follow any suitable angle e.g. as UAV 1 ascends. In some embodiments the flight path may be at least generally, or even substantially, vertical (in other words, UAV 1 may go more or less straight up from origin 24 to destination 25). It will be appreciated that such a method can minimize the length of line 20 that trails from UAV 1 during the flight, and thus can minimize the amount of weight that UAV 1 may need to support. However, in some embodiments the flight path may deviate from such

arrangements. For example, in some embodiments destination 25 may not be line-of-sight visible from flight origin 24 (and/or from a location at which an operator stands while operating a portable control station to navigate UAV 1 to the destination). It is also noted that the term "flight path" does not mean that the path that UAV 1 takes to destination 25 is required to be predetermined. Rather, in at least some embodiments an optimum flight path may be determined and/or modified during the actual flight, e.g. by an autonomous navigation and/or guidance system.

In some embodiments, UAV 1 may remain at destination 25 after delivering first end 21 of line 20 to destination 25 and after first end 21 of line 20 is attached e.g. to an anchorage 40. In some such embodiments, holding device 10 of UAV 1 may remain connected to (e.g. may grip tightly) line fastener 31 of line 20 as long as this does not interfere with use of line 20 by the fall-protection apparatus. In other embodiments, holding device 10 may release line fastener 31 but UAV 1 may nevertheless remain in place at destination 25. (In any of these embodiments, UAV 1 may be powered down e.g. to save battery life.) In other embodiments, after the attachment of first end 21 of line 20 to an anchorage 40 is completed, holding device 10 may release line fastener 31 and UAV 1 may depart from the destination (e.g. UAV 1 may follow an aerial flight path to any desired location).

In some embodiments, a destination 25 to which first end 21 of line 20 is delivered may be at an elevated height relative to flight origin 24. Destination 25 may also be at an elevated height relative to line source 23 and/or relative to a location at which an operator is located when operating UAV 1 by way of a portable control station, all as shown in generic exemplary embodiment in Fig. 1.

In some embodiments, a flight origin 24 of UAV 1 (as discussed in detail below) may be at an elevated height relative to a destination 25 to which first end 21 of is to be delivered. In some embodiments, a line source 23 from which line 20 is unwound during aerial flight of UAV 1 may be at an elevated height relative to a destination 25. Either or both of these may occur, for example, if line 20 is a load-bearing line of a fall-protection apparatus 50 that is a so-called self -retracting lifeline. Referring to Fig. 9, an ordinary artisan will understand that a self-retracting lifeline (noting that this phrase is often applied to an entire apparatus, not just to a load-bearing line or rope thereof) comprises a load-bearing line 20 that can be unwound from a reel 51, with the reel being secured to e.g. an overhead structure 70 and with a first end of the load-bearing line being attachable e.g. to a harness of a human user of the self- retracting lifeline. The load-bearing line can thus be paid out from the reel to follow the user as the user moves about an elevated workplace, with the reel being biased so that the reel retracts the line back into the reel as the user moves toward the reel. The self -retracting lifeline apparatus (e.g. the reel thereof) can include e.g. a centrifugal brake that is triggered in the event of rapid unwinding of the lifeline (e.g. in the event that the user falls) to safely bring the user to a halt.

As shown in exemplary generic representation in Fig. 9, UAV 1 can be used to obtain a first end 21 of load-bearing line 20 of the self-retracting lifeline apparatus and to bring the first end 21 of line 20 to a location (e.g. at ground level) at which first end 21 of line 20 can be attached to a harness of a user of the lifeline. (This attachment may often be done e.g. by way of a line fastener (such as a snaphook or carabiner) of line 20 being attached to a D-ring of the user's harness.) Such a method thus involves connecting first end 21 of load-bearing line 20 of self-retracting lifeline 50 to UAV 1 at a line source 23 that is a self-retracting reel 51 of the self -retracting lifeline 50, and then controllably moving UAV 1 along an aerial flight path to a destination 25 while line 20 unwinds from line source 23. At destination 25 UAV 1 may be maneuvered, and/or holding device 10 of UAV 1 may be manipulated, so that first end 21 of line 20 can be connected to a harness of a human who is to use the self -retracting lifeline.

It will be appreciated that in embodiments in which load-bearing line 20 is a component of a self- retracting lifeline, a flight origin 24 as described herein refers to the location at which UAV 1 begins a flight path with first end 21 of line 20 connected to UAV 1 (and will generally coincide with the location of reel 51 of self-retracting lifeline 50). In some embodiments UAV 1 may remain in position at or near flight origin 24 (e.g., parked on a surface near self -retracting reel 51 of self-retracting lifeline 50) prior to being used to deliver first end 21 of line 20 to a desired location. In other embodiments, UAV 1 may make an initial "pre-flight" (e.g. from ground level) to reach reel 51 ; such a pre -flight may originate from any convenient launching point. It will also be appreciated that in many embodiments the connecting of first end 21 of line 20 to UAV 1 will be performed by aerial maneuvering of UAV 1 (and possibly by manipulation of holding device 10 of UAV 1), rather than by way of a human user manually connecting first end 21 of line 20 to UAV 1. Such maneuvering and manipulation may be performed autonomously by UAV 1 or may be guided by a user operating a portable control station. It will still further be appreciated that in such embodiments, during the aerial flight of UAV 1 line 20 will trail from UAV 1 in an at least generally upward direction rather than in a downward direction, as is evident from comparing Figs. 1 and 9. Thus if desired, holding device 10 may e.g. be configured to extend upward from UAV 1 (as in the exemplary generic representation of Fig. 9) rather than downward (as in the exemplary generic representation of Fig. 1). Of course, in some embodiments UAV 1 may be capable of flying "inverted" in which case a single UAV might be compatible with either type of operation.

UAV 1 may thus be flown to a destination (e.g. to ground level) and may remain there, with first end 21 of line 20 attached thereto, until such time as it is desired to disconnect first end 21 of line 20 from UAV 1 and to attach first end 21 of line 20 to a harness. The connecting of first end 21 of load- bearing line 20 to a harness of a user may be performed immediately upon arrival of UAV 1 at the desired destination. Or, UAV 1 may remain e.g. parked at the destination, with first end 21 of line 20 connected thereto, for some period of time. In other embodiments, first end 21 of line 20 may be disconnected from UAV 1 (which may then depart the destination) and may be e.g. connected to some item of sufficient weight to prevent line 20 from being retracted by reel 51 until such time as a user is ready to attach first end 21 to a harness. Regardless of the specific implementation, it will be appreciated that any arrangement in which a first end 21 of a line 20 of a self-retracting lifeline 50 is connected to UAV 1, and UAV 1, with first end 21 of line 20 connected thereto, is then flown to a destination 25, is encompassed by the disclosures herein. (It will also be appreciated that in the particular case of using a UAV 1 to connect a load-bearing line of a self-retracting lifeline, a harness of a human user may serve as an "anchorage" located at a destination to which the UAV 1 travels and to which a first end of the load- bearing line is attached.)

In some embodiments a destination 25 to which first end 21 of line 20 is to be delivered, may be at generally, or substantially, the same height as flight origin 24 and/or as line source 23. Either or both of these may occur, for example, if line 20 is a load-bearing line of a so-called horizontal lifeline fall- protection apparatus.

With reference to the generic exemplary illustration of Fig. 10, in some embodiments UAV 1 may be used in combination with a vacuum-attachable apparatus 60 that comprises a vacuum-attachable plate 61 that can be attached to a suitable surface 71. Plate 61 can be brought into contact with an area of a suitable surface 71 and the air evacuated (e.g. by means of a suction fan of apparatus 60) from the space between surface 71 and plate 61 so that plate 61 (and thus apparatus 60) is held against surface 71 with an appropriate force. Surface 71 (at least the area thereof that is overlapped by plate 61) merely needs to allow such a vacuum to be established (e.g. surface 71 may be e.g. non-porous and non- perforated.) Apparatus 60 may comprise any suitable fitting or connector 62 to which a first end 21 of a load-bearing line 20 can be secured (noting that for clarity of presentation line 20 is omitted from Fig. 10).

Use of UAV 1 in such embodiments thus entails providing a vacuum-attachable apparatus 60 with a first end 21 of a load-bearing line 20 secured thereto; connecting the vacuum- attachable apparatus 60 to the UAV; controllably moving the UAV along an aerial flight path to a destination, which destination comprises a structure 70 with a major surface 71 ; and, positioning the UAV (and

manipulating a holding device 10 of the UAV if need be) so that a vacuum- attachable plate 61 of vacuum-attachable apparatus 60 is brought into contact with major surface 71 and activating vacuum- attachable apparatus 60 to evacuate at least some of the air from a space between plate 61 and major surface 71 so that apparatus 60 is attached to structure 70.

In some embodiments an area of major surface 71 to which it is desired to attach a vacuum- attachable apparatus 60 may be at least generally, substantially, or essentially planar (flat); in such embodiments at least a perimeter of vacuum-attachable plate 61 of apparatus 60 may likewise be planar. In other embodiments, such an area of major surface 71 may be arcuate; if so, at least a perimeter of vacuum-attachable plate 61 may exhibit a complementary curvature to the desired landing/attachment area of surface 71. (In some embodiments, and regardless of whether such a perimeter is curved or not, a perimeter of vacuum-attachable plate 61 may comprise a flexible gasket that may enhance the ability of the perimeter to mate with major surface 71.) In some embodiments apparatus 60 and UAV 1 may be connected by a connection 63 that is separable (so that e.g. UAV 1 may depart the destination after apparatus 60 is vacuum-attached to surface 71). In other embodiments apparatus 60 and UAV 1 may be non-separably connected (e.g., they may be manufactured as a single, integral apparatus that is both flyable under its own power and vacuum-attachable). Use of a UAV in this manner can allow an anchorage to be provided by way of a vacuum-attachable apparatus 60, on any desired structure that exhibits an area with a surface suitable for vacuum-attachment. Such a structure might be e.g. an aircraft or like entity.

It will be appreciated that the methods and apparatus described herein can be used in the installation of a load-bearing line in many different types of fall-protection systems and apparatus. In a relatively simple example, a load-bearing line 20 (after having been delivered to a destination and e.g. attached to an anchorage) may serve as a safety line (used e.g. with a rope adjuster, rope grab, descender, or the like). In other embodiments, after having been delivered to a destination, a load-bearing line 20 may serve in a fall-protection system that comprises additional components such as e.g. one or more self- retracting reels, vacuum-attachment apparatus, and the like. The methods disclosed herein may thus be used to deliver a first end of a load-bearing line to a destination, to enable use of the load-bearing line with any desired fall-protection system including but not limited to those products known as e.g. self- retracting lifelines, horizontal lifelines, positioning systems, fall-arrest systems, and so on. Any such system may include such components as one or more lanyards, centrifugal brakes, shock absorbers, rope adjusters, rope grabs, descenders, and so on, as well as ancillary equipment such as harnesses or belts, carabiners, D-rings, snaphooks, and the like. Many such systems, products, and components are described in detail e.g. in the 3M DBI-SALA Full-Line Catalog (Fall 2016).

List of Exemplary Embodiments

Embodiment 1 is a method for delivering a load-bearing line of a fall-protection apparatus to a destination, the method comprising: providing an unmanned aerial vehicle (UAV) with a first end of a load-bearing line connected thereto; controllably moving the UAV by self -powered aerial flight along a flight path to a destination, so that the load-bearing line unwinds from a line source and trails from the UAV as the UAV travels along the flight path to the destination; and, attaching the first end of the load- bearing line to an anchorage located at the destination, so that the load-bearing line extends from the anchorage to serve as a load-bearing line of a fall-protection apparatus.

Embodiment 2 is the method of embodiment 1 wherein the first end of the load-bearing line remains connected to the UAV after the first end of the load-bearing line is attached to the anchorage, and wherein the UAV remains at the destination after the first end of the load-bearing line is attached to the anchorage.

Embodiment 3 is the method of embodiment 1 wherein the method includes disconnecting the first end of the load-bearing line from the UAV after attaching the first end of the load-bearing line to the anchorage, and wherein the UAV departs from the destination after the first end of the load-bearing line is disconnected from the UAV.

Embodiment 4 is the method of any of embodiments 1-3 wherein the UAV wirelessly transmits a real-time video stream to a portable control station operated by a user, and wherein the user guides the UAV over at least a portion of the aerial flight path by operation of the portable control station with reference to the real-time video stream as displayed on a display screen of the control station.

Embodiment 5 is the method of any of embodiments 1-4 wherein the UAV is autonomously self- guided over at least a portion of the flight path to the destination. Embodiment 6 is the method of embodiment 5 wherein a wireless locator beacon is located at the destination, and wherein the UAV navigates to the destination by way of a real-time signal received from the wireless locator beacon. Embodiment 7 is the method of any of embodiments 5-6 wherein at least one fiduciary indicia is located at the destination, at least proximate the anchorage, and wherein the UAV homes in on the anchorage by acquiring real-time images that include the at least one fiduciary indicia.

Embodiment 8 is the method of any of embodiments 1-7 wherein the first end of the load-bearing line comprises a line fastener to which the load-bearing line is secured, and wherein the attaching of the first end of the load-bearing line to the anchorage comprises fastening the line fastener of the first end of the load-bearing line to the anchorage. Embodiment 9 is the method of embodiment 8 wherein the connecting of the first end of the load-bearing line to the UAV is performed by way of a holding device of the UAV that holds the line fastener of the first end of the load-bearing line. Embodiment 10 is the method of embodiment 9 wherein the holding device of the UAV releases the line fastener to disconnect the first end of the load-bearing line from the UAV, after the line fastener is connected to the anchorage.

Embodiment 11 is the method of any of embodiments 8-10 wherein the line fastener of the first end of the load-bearing line is a self -engaging metal fastener chosen from the group consisting of a snaphook and a carabiner. Embodiment 12 is the method of any of embodiments 8-11 wherein the anchorage comprises at least one metal member that defines at least one orifice configured to receive a portion of the line fastener in order to fasten the line fastener to the metal member to attach the first end of the load-bearing line to the anchorage. Embodiment 13 is the method of any of embodiments 8-10 and 12 wherein the line fastener of the first end of the load-bearing line, and the anchorage, respectively comprise mating portions that must be aligned with each other along a unique alignment axis and the line fastener then moved along the alignment axis toward the anchorage connector to engage the mating portions with each other, in order to attach the first end of the load-bearing line to the anchorage, with the aligning and moving being performed at least in part by way of controlled aerial flight of the UAV.

Embodiment 14 is the method of any of embodiments 1-13 wherein the destination is at an elevated height relative to an origin from which the UAV begins aerial flight to the destination with the first end of the line connected to the UAV. Embodiment 15 is the method of any of embodiments 1-14 wherein the destination is not line-of-sight visible from the origin.

Embodiment 16 is the method of any of embodiments 1-13 wherein a location from which the UAV begins aerial flight to the destination with the first end of the line connected to the UAV, is at an elevated height relative to the destination.

Embodiment 17 is the method for attaching a load-bearing line of a fall-protection apparatus to a harness, wherein the fall-protection apparatus is a self -retracting lifeline comprising a self -retracting reel that is secured to a structure at an elevated height and that comprises a first end of the load-bearing line protruding therefrom, and wherein the method comprises: connecting the first end of the load-bearing line of the self -retracting lifeline to an unmanned aerial vehicle (UAV); controllably moving the UAV by self -powered aerial flight along a flight path to a destination that is at a lower height than the self- retracting reel, during which flight the load-bearing line unwinds from the self-retracting reel and trails from the UAV; at the destination, connecting the first end of the load-bearing line to a harness and disconnecting the first end of the load-bearing line from the UAV. Embodiment 18 is the method of embodiment 17 wherein the method includes a preliminary step of controllably moving the UAV by self- powered aerial flight to a location proximate the self -retracting reel of the self -retracting lifeline so that the first end of the load-bearing line can be connected to the UAV.

Embodiment 19 is a method for delivering a vacuum-attachable apparatus bearing a load-bearing line of a fall-protection product to a destination and attaching the vacuum-attachable apparatus to a surface of a structure at the destination, the method comprising: providing a vacuum-attachable apparatus that is connected to an unmanned aerial vehicle (UAV) and with a first end of a load-bearing line secured to the vacuum-attachable apparatus; controllably moving the UAV by self -powered aerial flight along a flight path to a destination that comprises an area of a major surface of a structure, during which flight the load-bearing line unwinds from a line source and trails from the UAV; at the destination, positioning the UAV by self -powered aerial flight so that a vacuum-attachable plate of the vacuum-attachable apparatus is brought into contact with the area of the major surface of the structure; and, evacuating air from a space between the vacuum-attachable plate and the area of the major surface of the structure so that the vacuum-attachable apparatus is attached to the structure. Embodiment 20 is the method of embodiment 19 wherein the UAV is not integral with the vacuum-attachment apparatus and wherein the vacuum-attachment apparatus is disconnectably connected to the UAV.

It will be apparent to those skilled in the art that the specific exemplary elements, structures, features, details, configurations, etc., that are disclosed herein can be modified and/or combined in numerous embodiments. All such variations and combinations are contemplated by the inventor as being within the bounds of the conceived invention, not merely those representative designs that were chosen to serve as exemplary illustrations. Thus, the scope of the present invention should not be limited to the specific illustrative structures described herein, but rather extends at least to the structures described by the language of the claims, and the equivalents of those structures. Any of the elements that are positively recited in this specification as alternatives may be explicitly included in the claims or excluded from the claims, in any combination as desired. Any of the elements or combinations of elements that are recited in this specification in open-ended language (e.g., comprise and derivatives thereof), are considered to additionally be recited in closed-ended language (e.g., consist and derivatives thereof) and in partially closed-ended language (e.g., consist essentially, and derivatives thereof).