Unmanned aerial vehicle (UAV) platform with extended time regenerative power supply

Abstract

The invention relates to an unmanned aerial vehicle (UAV) platform with extended time regenerative power supply. An unmanned aerial vehicle (UAV) cluster includes a plurality of task UAVs and a plurality of core UAVs, the plurality of task UAVs and the plurality of core UAVs being arranged in a cluster. One or more of the task UAVs are configured for controlled independent flight. The plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to predefined task characteristics of the UAV cluster.

Description

[0001] This application is a divisional application of the patent application with the application date of May 8, 2019, application number 2019103787191, and titled "Unmanned Aerial Vehicle (UAV) Platform with Extended Time Regenerative Power Supply". Technical Field

[0002] This disclosure generally relates to unmanned aerial vehicles (UAVs), and more particularly to systems for creating and operating a cluster of individual UAVs to deliver payloads to a predetermined destination. Background Art

[0003] Companies have started using unmanned aerial vehicles (UAVs) to deliver products to their customers. In some cases, companies utilize multiple UAVs arranged in a cluster to deliver their products. These "clustered UAVs" are particularly beneficial because they allow companies to distribute products as "payloads" to various destination locations in an efficient and cost-effective manner. Examples of such payloads include, but are not limited to, packages, boxes, and bags, and can have any shape, size, and weight as long as the UAV cluster can carry them.

[0004] Typically, consumers interact with a centralized marketplace to order and purchase products that are ultimately delivered as payloads to a desired destination location. The UAV cluster is loaded with the payload at a warehouse and flies to the desired delivery location, such as a customer's home or company. In some cases, an individual UAV can temporarily separate from the UAV cluster during flight and deliver the payload before redocking with the UAV cluster for the return flight.

[0005] Current market trends are starting to replace centralized marketplaces with multiple virtual online marketplaces, each of which may or may not be associated with a corresponding warehouse. Thus, customer orders can be filled at any given warehouse and airfreighted to the corresponding destination location. While decentralization is beneficial, these practices also increase the importance of delivering payloads in a cost-effective manner. Summary of the Invention

[0006] Aspects of the present disclosure relate to creating and operating a cluster of unmanned aerial vehicles (UAVs) to carry and autonomously deliver one or more payloads to one or more predetermined destination locations.

[0007] In one aspect, the present disclosure provides a cluster of unmanned aerial vehicles (UAVs) that includes a plurality of mission UAVs arranged in a cluster, wherein a group of one or more mission UAVs is configured for controlled independent flight. A plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs based on predefined mission characteristics of the UAV cluster.

[0008] In one aspect, each core UAV and each mission UAV in the UAV swarm have the same size and are congruent.

[0009] In one aspect, one or both of the number and type of core UAVs to be distributed across the UAV swarm are selected based on predefined mission characteristics.

[0010] In one aspect, the predefined mission characteristics include one or more of the following: the distance of the destination location from the launch location of the UAV swarm, the type of mission that a group of one or more mission UAVs are configured to perform, the number of predefined intermediate waypoints of the UAV swarm between the launch location and the destination location, and the payload characteristics of the payload carried by the UAV swarm and delivered by the group of one or more mission UAVs.

[0011] In one aspect, one of the multiple core UAVs to be distributed across the swarm includes one of the following: a propulsion UAV configured to augment the propulsion force provided by each individual mission UAV in the swarm; a fuel storage UAV that includes a fuel reservoir for storing fuel and is configured to increase the fuel consumed by each individual mission UAV in the swarm; a power UAV configured to increase the electrical power consumed by each individual mission UAV in the swarm; and a sensor UAV that includes sensors.

[0012] In one aspect, the sensors include a camera configured to capture an image of the destination location.

[0013] In one aspect, the sensors include radar.

[0014] In one aspect, the first core UAV is configured to control the operation of each of the other core UAVs.

[0015] In one aspect, a second core UAV is configured to control the operation of one or more of the multiple mission UAVs. In such an aspect, the second core UAV is different from the first core UAV and is controlled by the first core UAV.

[0016] In one aspect, the present disclosure provides an unmanned aerial vehicle (UAV) system that includes: a plurality of individual UAVs arranged in a swarm. In these aspects, the plurality of individual UAVs include a plurality of mission UAVs, where a group of one or more mission UAVs are configured for controlled independent flight, and a plurality of core UAVs are distributed across the entire swarm according to a selected distribution pattern that distributes the core UAVs within the swarm based on predefined mission characteristics of the UAV swarm.

[0017] In one aspect, a selected distribution pattern defines a corresponding position for each core UAV within the UAV swarm.

[0018] In one aspect, the UAVs within the UAV swarm include the same size and are uniform.

[0019] In one aspect, one or both of the number and type of core UAVs to be distributed throughout the UAV swarm are selected based on predefined mission characteristics.

[0020] In one aspect, the predefined mission characteristics include one or more of the following: the distance of the destination location from the launch location of the UAV swarm, the type of mission that a group of one or more mission UAVs are configured to perform, the number of predefined intermediate waypoints of the UAV swarm between the launch location and the destination location of the UAV swarm, and the load characteristics of the load carried by the UAV swarm and delivered by the group of one or more mission UAVs.

[0021] In one aspect, the plurality of core UAVs includes: a first core UAV configured to control the operation of each of the other core UAVs within the swarm; and a second core UAV, different from the first core UAV, and configured to control the operation of the plurality of mission UAVs.

[0022] In one aspect, the present disclosure provides a method of operating a swarm of unmanned aerial vehicles (UAVs). In these aspects, the method includes: determining mission characteristics of a mission assigned to the UAV swarm; and based on the mission characteristics: arranging a plurality of mission UAVs to form the UAV swarm, wherein one or more of the mission UAVs are configured for controlled independent flight; selecting a distribution pattern for the plurality of core UAVs, wherein the distribution pattern identifies a corresponding position within the UAV swarm for each of the plurality of core UAVs; and distributing the plurality of core UAVs throughout the UAV swarm according to the distribution pattern.

[0023] In one aspect, the method further includes selecting one or both of the number and type of core UAVs to be distributed throughout the UAV swarm based on mission characteristics.

[0024] In one aspect, each of the mission UAVs and the core UAVs forming the UAV cluster has the same dimensions and is uniform. In these aspects, selecting the distribution pattern of the plurality of core UAVs based on the mission characteristics includes selecting the distribution pattern based on one or more of the following: the distance between the destination location and the launch location of the UAV cluster; the type of mission that the group of one or more mission UAVs is configured to perform; the number of intermediate waypoints between the launch location and the destination location of the UAV cluster; and the characteristics of the payload carried by the UAV cluster and delivered by the one or more mission UAVs.

[0025] In one aspect, the plurality of mission UAVs and the plurality of core UAVs are releasably coupled to each other in the UAV cluster. In these aspects, the method further includes communicatively connecting each of the core UAVs to one or more of the plurality of mission UAVs.

[0026] In one aspect, the method further includes designating a first core UAV as a primary core UAV, using the primary core UAV to control one or more second core UAVs, and using at least one of the second core UAVs to control one or more of the mission UAVs.

[0027] In one aspect, the present disclosure provides a self-aligning docking mechanism for an unmanned aerial vehicle (UAV). In these aspects, the self-aligning docking mechanism includes: an alignment circuit configured to generate an alignment signal representing the current alignment of the UAV with a proximal UAV in response to detecting an indicator signal transmitted by the proximal UAV; a docking claw configured to grip a corresponding docking claw provided on the proximal UAV; and a docking control circuit configured to align the docking claw with the corresponding docking claw on the proximal UAV based on the alignment signal and to control the docking claw to grip the corresponding docking claw to dock the UAV to the proximal UAV.

[0028] In one aspect, the self-aligning docking mechanism further includes an extendable arm configured to be releasably attached to a corresponding extendable arm on the proximal UAV.

[0029] In one aspect, the extendable arm includes a magnetic component configured to be releasably connected to a corresponding magnetic component provided on the corresponding extendable arm of the proximal UAV.

[0030] In one aspect, the self-aligning docking mechanism further includes a servo drive operatively connected to both the docking claw and the docking control circuit. To align the docking claw with the corresponding docking claw, the docking control circuit is configured to: determine whether the docking claw is aligned with the corresponding docking claw in response to an analysis of the alignment signal; and send an alignment message to the servo drive in response to determining that the docking claw and the corresponding docking claw are misaligned.

[0031] In one aspect, to align the docking claw with the corresponding docking claw, the servo drive is configured to: generate one or more alignment commands in response to receiving the alignment message from the docking control circuit; and rotate the docking claw about the longitudinal axis using the one or more alignment commands.

[0032] In one aspect, the docking claw is configured to move between an open state in which it is undocked from the corresponding docking claw and a closed state in which it is docked to the corresponding docking claw.

[0033] In one aspect, the docking claw includes opposing first and second grippers made of a shape memory alloy. In these aspects, the docking control circuit is further configured to: apply a first voltage to each of the first and second grippers to move the docking claw to the open state, where the first voltage meets or exceeds a threshold; and reduce the first voltage applied to the first and second grippers to a second voltage to move the docking claw to the closed state, where the second voltage is less than the threshold.

[0034] In one aspect, to reduce the first voltage to the second voltage, the docking control circuit is configured to stop applying the first voltage to the first and second grippers.

[0035] In one aspect, the present disclosure provides a method of docking a first unmanned aerial vehicle (UAV) and a second UAV. The method implemented by the first UAV includes: during a first docking phase, generating an alignment signal indicative of a current alignment state between the first and second UAVs in response to detecting an indicator signal transmitted by the second UAV. During a second docking phase, the method includes aligning the docking claw of the first UAV with the corresponding docking claw of the second UAV based on the alignment signal and docking the first UAV and the second UAV, where the docking includes controlling the docking claw of the first UAV to grip the corresponding docking claw of the second UAV.

[0036] In one aspect, during the first docking phase, the method further includes releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0037] Among these aspects, releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV includes: magnetically coupling the arm extending from the first UAV to the corresponding arm extending from the second UAV.

[0038] In one aspect, aligning a docking claw of the first UAV with a corresponding docking claw of the second UAV based on the alignment signal includes: rotating the docking claw of the first UAV about a longitudinal axis in response to determining that the first UAV and the second UAV are misaligned.

[0039] In one aspect, the docking claw of the first UAV includes opposing first and second grippers formed of a shape memory alloy. In these aspects, the method further includes applying a first voltage to each of the first and second grippers to open the docking claw, wherein the first voltage meets or exceeds a threshold, and reducing the first voltage applied to the first and second grippers to a second voltage to close the docking claw, wherein the second voltage is less than the threshold.

[0040] In one aspect, reducing the first voltage to the second voltage includes stopping applying the first voltage to the first and second grippers.

[0041] In one aspect, the present disclosure provides a non-transitory computer-readable medium storing software instructions that, when executed by a processing circuit on a first unmanned aerial vehicle (UAV), cause the processing circuit to: during a first docking phase, in response to detecting an indicator signal transmitted by the second UAV, generate an alignment signal indicating a current alignment state between a docking claw of the first UAV and a corresponding docking claw of the second UAV. During a second docking phase, the software instructions executed by the processing circuit cause the processing circuit to: align the docking claw of the first UAV with the corresponding docking claw of the second UAV based on the alignment signal, and dock the first and second UAVs by controlling the docking claw of the first UAV to grip the corresponding docking claw of the second UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Aspects of the present disclosure are illustrated by way of example, and aspects of the invention are not limited by the drawings, in which like reference numerals refer to like elements.

[0043] Figure 1 is a perspective view of a UAV swarm including a plurality of interconnected unmanned aerial vehicles (UAVs) according to one aspect of the present disclosure.

[0044] Figure 2A perspective view of a UAV swarm in flight and delivering one or more payloads to corresponding delivery locations configured according to aspects of the present disclosure.

[0045] Figures 3A - 3B A perspective view showing a mission UAV configured according to an aspect of the present disclosure.

[0046] Figures 4A - 4B A perspective view showing a fuel augmentation UAV configured according to an aspect of the present disclosure.

[0047] Figures 5A - 5B A perspective view showing a propulsion enhancement UAV configured according to an aspect of the present disclosure.

[0048] Figures 6A - 6B A perspective view showing a power augmentation UAV configured according to an aspect of the present disclosure.

[0049] Figures 7A - 7B A perspective view showing a sensor UAV configured to sense the surrounding environment according to an aspect of the present disclosure.

[0050] Figure 8 [[ID=2--4]]A functional block diagram showing some components of a UAV control circuit according to an aspect of the present disclosure.

[0051] Figure 9 A flowchart showing a method for creating and configuring a UAV swarm according to a mission of the UAV swarm according to an aspect of the present disclosure.

[0052] Figure 10 A functional block diagram showing the components of a UAV in a UAV swarm according to an aspect of the present disclosure.

[0053] Figure 11 A perspective view of a UAV swarm configured according to another aspect of the present disclosure.

[0054] Figure 12 A perspective view of a UAV swarm configured according to another aspect of the present disclosure.

[0055] Figure 13 A perspective view of a UAV swarm configured according to another aspect of the present disclosure.

[0056] Figure 14A A functional block diagram showing a self-aligning docking mechanism in an open state according to an aspect of the present disclosure.

[0057] Figure 14B A functional block diagram showing a self-aligning docking mechanism in a closed state according to an aspect of the present disclosure.

[0058] Figures 15A - 15BDocking claws configured according to an aspect of the present disclosure are shown respectively as seen along section A-A and B-B.

[0059] Figure 16 FIG. is a flow chart showing a method of docking a UAV including a self-aligning docking mechanism according to an aspect of the present disclosure.

[0060] Figure 17 FIG. is a functional block diagram showing a docking claw servo control circuit configured according to an aspect of the present disclosure.

[0061] Figure 18 FIG. is a functional block diagram of a power source component configured to generate power and distribute the power to one or more UAVs in a UAV cluster according to an aspect of the present disclosure. DETAILED DESCRIPTION

[0062] Aspects of the present disclosure provide an adaptive, task-configurable, and scalable platform architecture for dynamically creating and operating a swarm of individual unmanned aerial vehicles (UAVs) or "drones". These "UAV swarms" are used, for example, to carry one or more payloads and deliver the one or more payloads to one or more different destination locations. When compared to using individual UAVs to deliver payloads, the platform of the present disclosure beneficially allows a user to create and operate a UAV swarm in a more cost-effective manner. Thus, the UAV swarms of the present disclosure can achieve efficient flight performance while significantly increasing payload capacity and range.

[0063] In one aspect of the present disclosure, each individual UAV is physically and communicatively interconnected to form an integrated "UAV swarm". A given UAV in the UAV swarm can perform multiple functions, but the (one or more) corresponding positions within the UAV swarm of any particular UAV(s) included in the UAV swarm and the overall configuration of the UAV swarm are based on the particular task the UAV is to perform. Such tasks include, for example, delivering one or more payloads (e.g., products ordered by a customer) from one or more distribution points (e.g., warehouses) to one or more destination locations associated with corresponding customers.

[0064] Each individual UAV in the cluster is capable of autonomous and independent flight, but can also perform such flight as part of a UAV cluster (or, as will be seen in more detail later, a UAV "sub-cluster"). Additionally, each individual UAV in the UAV cluster can be configured to perform a corresponding task individually and / or as part of a larger UAV cluster. Thus, according to the present disclosure, a UAV cluster can be assigned a flight task, and each individual UAV in the cluster is configured to support that task. However, during that task, the individual UAVs in the UAV cluster can temporarily separate from the UAV cluster, perform their own tasks configured independently, and then return to the UAV cluster to function again as part of the cluster.

[0065] Turning now to the drawings, Figure 1 there is shown a UAV system arranged as a UAV cluster 10 configured according to one aspect of the present disclosure. As Figure 1 shown, the UAV cluster 10 is an integrated structure composed of a plurality of individual but interconnected UAVs 12, 14, 16. Each type of UAV 12, 14, 16 is specifically configured to perform different functions or different types of functions. However, regardless of the function, each individual UAV 12, 14, 16 includes a plurality of motor-driven rotors 18 that provide the UAVs 12, 14, 16 and the UAV cluster 10 with the ability to fly and maneuver above the ground. Additionally, regardless of its type or function, each individual UAV 12, 14, 16 in the UAV cluster 10 is physically and communicatively interconnected to at least one other individual UAV 12, 14, 16 in the UAV cluster 10. This interconnection (which is more fully described with respect to later drawings) facilitates the ability of the individual UAVs 12, 14, 16 to communicate with each other and share resources with each other as needed.

[0066] The UAV cluster 10 can include any number and type of individual UAVs 12, 14, 16 as needed or desired. However, according to aspects of the present disclosure, the number, type, and location of the individual UAVs 12, 14, 16 within the UAV cluster 10 depend on the specific task for the UAV cluster 10. For example, Figure 1The UAV swarm 10 consists of multiple "mission" UAVs 12 and multiple so-called "core UAVs", where the "core UAVs" include multiple "fuel storage" UAVs 14 and multiple "propulsion" UAVs 16. For missions where a large number of individual payloads are to be delivered to a large number of geographically distinct destination locations, or for missions where a small number of "heavy" payloads are to be delivered to a relatively small number of destination locations, the UAV swarm 10 can be configured to include a greater number of mission UAVs 12 designed to carry those "payloads". For example, in the case where the geographical distance to (one or more) destination locations meets or exceeds a predetermined maximum distance threshold, the UAV swarm 10 can be configured to also include various "core UAVs", such as one or more fuel storage UAVs 14 to carry additional fuel for other UAVs. For example, for missions where the UAV swarm 10 requires a higher flight speed and / or higher maneuverability, the UAV swarm 10 can include one or more propulsion UAVs 16. These propulsion UAVs 16 (as shown in more detail later) include additional rotors 18 to help propel the UAV swarm 10 faster, higher, and / or over a greater distance.

[0067] The specific overall "wing" configuration of the UAV swarm 10 also depends on the type or mission of the task that the UAV swarm 10 is to perform. For example, Figure 1 the wing configuration of the UAV swarm 10 as seen in [description] is generally referred to as a "swept-back" wing. With a "swept-back wing" configuration, the UAV swarm 10 has less drag and higher aerodynamic performance. For example, in missions where the UAV swarm 10 is flying at a relatively high cruise speed, it is beneficial to configure the individual UAVs 12, 14, 16 such that they are organized to form a UAV swarm 10 with this type of wing configuration.

[0068] Figure 2Shown is a UAV swarm 10 configured to perform a task in accordance with the present disclosure. In particular, the UAV swarm 10 is created to include a plurality of individual mission UAVs 12 and a plurality of core UAVs. The core UAVs include a fuel storage UAV 14 and a propulsion UAV 16. In one aspect, the creation of a given UAV swarm 10 occurs "on the ground" at a distribution point of a distribution point DP. In these aspects, when at the distribution location, the individual UAVs 12, 14, 16 for creating the UAV swarm 10 are selected and physically and communicatively interconnected. The UAV swarm 10 is then launched to perform its flight mission, where the individual mission UAVs 12 separate from the UAV swarm 10 to deliver their respective payloads to their respective destination locations DL. In other aspects, the individual UAVs 12, 14, 16 can be launched from one or more of the distribution points DP and join an already existing flying UAV swarm 10. In these aspects, the individual UAVs 12, 14, 16 are configured to autonomously dock with each other in flight and form a physical and communication connection.

[0069] The connections formed by the individual UAVs 12, 14, 16 when creating or joining the UAV swarm 10 facilitate data communication between the individual UAVs 12, 14, 16 and allow them to dynamically share their resources with each other. The ability to dynamically share resources between the individual UAVs 12, 14, 16 "in flight" helps ensure that both the overall mission of the UAV swarm 10 and the individual missions of the mission UAVs 12 in the UAV swarm 10 are successfully completed.

[0070] Regardless of where the UAV swarm 10 is created or how the individual UAVs 12, 14, 16 are selected to create the UAV swarm 10, the UAVs 12, 14, 16 are configured to stay together as a single entity to fly to one or more destination locations DL more efficiently. Upon arrival, the mission UAVs 12 temporarily separate from the flying UAV swarm 10, deliver their respective payloads to the appropriate destination locations DL, and then rejoin the UAV swarm 10 to return the flight to the distribution point DP. Thus, the individual UAVs including the UAV swarm are releasably coupled.

[0071] Figures 3A - 7BThese are various views showing some exemplary types of individual UAVs suitable for creating the UAV cluster 10 in accordance with aspects of the present disclosure. In particular, the individual UAVs can be rotor-based aircraft or "drones" that can be controlled independently by a user and / or a control program executed on processing circuitry and / or as part of the UAV cluster 10. In the illustrated embodiment, all of the individual UAVs are hexagonal polygons of the same size. Thus, all of the individual UAVs used to construct a given UAV cluster 10 are consistent (e.g., of the same form such that the shapes coincide when superimposed). This consistency helps ensure that the individual UAVs fit neatly "together" to form the UAV cluster 10, facilitates docking and undocking of the individual UAVs relative to the UAV cluster 10, and allows the individual UAVs to interconnect in any desired wing configuration. Accordingly, the consistency of the individual UAVs in a given UAV cluster 10 ensures that the UAV cluster 10 can be both dynamically reconfigured and dynamically expanded. In other embodiments, other arrangements are possible, e.g., the shapes can be similar to each other but not consistent (e.g., having the same shape but different sizes).

[0072] Those of ordinary skill in the art will readily understand that the individual UAVs of this aspect are not limited to the specific hexagonal shapes and sizes seen in the figures. In accordance with other aspects of the present disclosure, the UAV cluster 10 can include multiple individual UAVs having shapes such as triangles, quadrilaterals, pentagons, octagons, etc. Thus, other shapes and sizes for the individual UAVs are possible, so long as all of the individual UAVs in a given UAV cluster 10 are consistent.

[0073] Figures 3A - 3B Shown is a mission UAV 12 configured in accordance with one aspect of the present disclosure. The mission UAVs 12 are the "workhorses" of the UAV cluster 10 because their primary function is to carry a payload and deliver the payload to a predetermined destination location. However, it is not necessary to utilize all of the mission UAVs 12 in a given UAV cluster 10 to carry a payload. In some aspects, e.g., at least some of the mission UAVs 12 forming a given UAV cluster 10 provide lift capabilities and maneuverability to the UAV cluster 10.

[0074] As Figures 3A - 3BAs shown, mission UAV 12 includes a frame 20 and an infrastructure span 22 configured to carry the weight of a given payload from a distribution point DP to a destination location DL. The frame 20 is made of a rigid or semi-rigid lightweight material and is configured to at least partially protect the components of the mission UAV 12. The infrastructure span 22 is connected to and extends between the inner surfaces of the frame 20 and is also made of a lightweight rigid or semi-rigid material. As shown in these figures, the infrastructure span 22 is configured to support at least some of the components of the mission UAV 12, such as the rotor 18 and its corresponding electric motor and control components. Additionally, the interior of the infrastructure span 22 can be at least partially hollow to serve as a passageway for cables, wires, and / or other connection-related hardware required for each UAV to communicate with and share a resource.

[0075] As Figure 3B best shown therein, the frame 20 also includes a plurality of docking members 24. In this regard, the docking members 24 include electromagnets and are controlled by one or more processing circuits to be activated and deactivated as needed. In other embodiments, other arrangements of the docking members 24 are possible. For example, the docking members 24 can include the docking mechanism 110 shown in FIG. 14.

[0076] When activated, the docking members 24 generate a magnetic field to magnetically attract the docking members 24 of other proximal UAVs 12, 14, 16 in the UAV cluster 10. Then, the docking members 24 remain activated during flight operations to maintain the desired wing shape of the UAV cluster 10. Additionally, each docking member 24 includes a connection conduit 26 (e.g., one or more wires) to facilitate data communication and resource sharing with other UAVs in the UAV cluster 10 when the mission UAV 12 docks with the UAV cluster 10.

[0077] When deactivated, the docking members 24 repel or stop attracting the docking members 24 of other individual UAVs. This deactivation allows a given mission UAV 12 to "undock" from the UAV cluster 10, thereby configuring the mission UAV 12 to temporarily separate from the UAV cluster 10 and deliver its payload to the destination location DL. Once the payload has been delivered and the mission UAV 12 returns to dock with the UAV cluster 10, the docking members 24 are activated again.

[0078] As Figures 3A - 3BAs shown, the mission UAV 12 includes a quad-rotor configuration. The rotational speed, pitch, and yaw of each rotor 18 can be independently controlled to change its altitude and orientation relative to the ground, as well as to change its speed. However, as will be seen in more detail later, the mission UAV 12 is not limited to a quad-rotor configuration. Instead, the mission UAV 12 of this aspect can have more or fewer rotors as needed or desired.

[0079] Figures 4A - 7B Various types of "core UAVs" suitable for aspects of the present disclosure are shown. These so-called "core UAVs" are not mission UAVs 12 because they are not configured to carry and deliver payloads. Instead, the core UAVs of this aspect have different specialized functions designed to enhance the capabilities of individual UAVs and UAV clusters, thus helping to ensure that the UAV cluster 10 and each mission UAV 12 achieve successful mission completion.

[0080] Figures 4A - 4B A fuel storage UAV 14 configured to increase the fuel storage of liquid fuel used by other UAVs in the UAV cluster 10 according to an aspect of the present disclosure is shown. The fuel storage UAV 14 also includes a frame 20, an infrastructure cross pier 22, a docking member 24, and a connecting conduit 26. However, for example, the fuel storage UAV 14 also includes a fuel storage tank 28 configured to carry a certain amount of liquid fuel, such as gasoline. More specifically, the fuel storage UAV 14 of this aspect is not configured to carry a deliverable payload like the mission UAV 12. Instead, the fuel storage UAV 14 is configured to increase the fuel storage capacity of the individual UAVs 12, 14, and thus extend the flight distance and time.

[0081] In operation, a control circuit (described later) receives a request for additional fuel from one or more UAVs in the UAV cluster 10. In response to this request, the fuel storage UAV 14 is controlled to supply the requested fuel from the fuel storage tank 28 to the specific UAV that is making the request. For example, the fuel can be pumped through conduits or channels formed in the frame 20 and the infrastructure cross pier 22 (as Figure 3B shown).

[0082] According to the present disclosure, a given UAV swarm 10 can be configured to include one or more of these fuel storage UAVs 14 based on its particular mission. For example, a UAV swarm 10 configured to fly a long-haul mission, as described previously, can be created to include a plurality of fuel storage UAVs 14. The longer the distance the UAV swarm 10 flies, the more fuel storage UAVs 14 the UAV swarm 10 can include. Additionally, the positioning of the plurality of fuel storage UAVs 14 within the UAV swarm 10 depends on the UAV swarm 10 mission as well as the particular wing configuration of the UAV swarm 10. Generally, the fuel storage UAVs 14 are located within the UAV swarm to ensure proper weight distribution of the UAV swarm 10.

[0083] Figures 5A - 5B Shown is a class of "core" or special function UAVs referred to herein as propulsion UAVs 16 according to one aspect of the present disclosure. In addition to the frame 20, infrastructure crossbeams 22, docking members 24, and communication conduits 26 (each of which was previously described), the propulsion UAV 16 includes an additional set of rotors 18. As described above, the rotors 18 can be independently controlled to facilitate necessary control of the flight characteristics of the UAV swarm 10 during flight.

[0084] Figures 6A - 6B Shown is another "core" or special function UAV referred to herein as power UAV 30. The power UAV 30 is constructed similarly to other UAVs, i.e., the power UAV 30 also includes a frame 20, infrastructure crossbeams 22, a plurality of docking members 24, and communication conduits 26. Additionally, however, the power UAV 30 includes, for example, a plurality of electrical energy sources, such as batteries 34, which are mounted to a platform 32 spanning between the frames 20. In operation, the power UAV 30 is controlled upon request to provide the electrical power generated by the batteries 34 to one or more of the other UAVs in the UAV swarm 10. Then, the UAVs in the UAV swarm 10 that receive the power can utilize the power to augment their own individual power supplies.

[0085] As Figures 6A - 6B shown, the power UAV 30 includes a plurality of batteries 34. However, one of ordinary skill in the art should understand that the present disclosure is not limited thereto. By way of example only, the power UAV 30 can include one or more solar cells designed to generate electricity from light in addition to or instead of the batteries 34. In aspects where the power UAV 30 includes both, the solar cells can be used to charge the batteries 34 and / or provide direct current to components of another UAV in the UAV swarm 10.

[0086] Figures 7A - 7BShows another type of special function UAV applicable to various aspects of the present disclosure. In this regard, the sensor UAV 40 includes a frame 20, an infrastructure cross pier 22, rotors 18, a docking member 24, and a communication conduit 26, but the sensor UAV 40 also includes a sensor 46 mounted to a platform 42. The sensor 46 is configured to sense the surrounding environment of the UAV swarm 10. According to various aspects, the sensor 46 can include any sensor known in the art, including but not limited to cameras, infrared sensors, thermal sensors, microphones, motion sensors, etc., or any combination thereof. Additionally, the sensor UAV 40 can also include a control circuit 44 mounted to the platform 42, and the control circuit 44 can include a memory circuit and is configured to control the operation of the sensor 46 when the sensor UAV 40 is separated from the UAV swarm 10. In aspects where the control circuit 44 also includes a memory circuit, the sensor UAV 40 can store images, videos, audio, and / or other artifacts until it returns to the UAV swarm 10 and / or the distribution point DP. In some aspects, the UAV swarm 10 also includes a UAV that includes a memory circuit storing the artifacts sensed by the sensor 46. In these cases, the artifacts can be transferred between the UAVs via the communication conduit 26.

[0087] Figure 8 Is a functional block diagram showing some components of the UAV circuit 50 carried by each individual UAV in the UAV swarm 10. As Figure 8 Shown, the UAV circuit 50 of each UAV includes at least a control circuit 52, a memory 54, and a communication interface circuit 56. For example, the control circuit 52 includes a microprocessor and controls the operation of the UAV according to a control program stored in the memory 54. For example, the control program can define tasks that are allocated to the UAV swarm 10 as a whole or allocated to the UAV individually. In the case where the UAV is a core UAV (such as the fuel storage UAV 14), for example, the control circuit 52 receives and responds to requests for fuel (or other resources). When responding, the control circuit 52 is also configured to control its fuel storage 28 to supply fuel to the UAV that is making the request. The communication interface circuit 56 provides communication between the various UAVs in the UAV swarm 10.

[0088] Figure 9FIG. 0 is a flowchart showing a method 60 for creating and configuring a UAV swarm 10 based on its mission according to an aspect of the present disclosure. Method 60 begins by determining mission characteristics of a mission assigned to UAV swarm 10 (block 62). For example, the overall mission of UAV swarm 10 may be to deliver a single large and relatively heavy payload to a remote destination location DL. Alternatively, the mission may be to deliver multiple smaller payloads to different destination locations DL that are geographically close to each other and to the launch point of UAV swarm 10. In yet another example, the mission may be for UAV swarm 10 to fly to a predetermined destination location DL and release sensor UAV 40 to capture images of that destination location DL. However, regardless of the mission, method 60 arranges a plurality of mission UAVs 12 based on the mission to form UAV swarm 10 (block 64).

[0089] Then, one or both of the number and type of "core" or special function UAVs 14, 16, 30, 40 are selected based on mission characteristics distributed throughout UAV swarm 10 (block 66). For example, a mission that requires additional fuel will likely select one or more fuel UAVs 14 to increase the fuel supply of other UAVs in UAV swarm 10. A mission that requires image capture will select one or more sensor UAVs 40 to be included in UAV swarm 10. However, once the appropriate "core" or special function UAVs are selected, a distribution pattern is selected for these UAVs (block 68). The distribution pattern identifies the corresponding locations for each core UAV selected to be included in UAV swarm 10. Then, the UAVs are distributed throughout UAV swarm 10 according to the selected distribution pattern (block 70) and are communicatively connected to each other and to one or more of the plurality of mission UAVs (block 72).

[0090] One of ordinary skill in the art should understand that the distribution pattern selected for the core UAV is not limited to the distance that the UAV swarm 10 must fly to one or more destination locations DL. Instead, other factors need to be considered when selecting the distribution pattern. For example, when selecting the distribution pattern for the core UAV, the type of task that the UAV swarm 10 or a group of one or more mission UAVs 12 in the UAV swarm 10 is to perform can also be considered. That is, a task of capturing an image of an object or performing some other sensory function may mean distributing one or more sensor UAVs 40 to obtain a clear line of sight to the object. A task having one or more intermediate waypoints between the distribution point DP and the destination location DL may mean that the UAV swarm 10 will include fewer fuel storage UAVs 14 if the intermediate waypoint can refuel the UAV swarm 10, or the UAV swarm 10 will include more fuel storage UAVs 14 if the intermediate waypoint cannot refuel the UAV swarm 10. In either case, the distribution pattern of the fuel storage UAVs 14 can be selected to reflect a uniform weight distribution and / or ensure the close proximity of the fuel storage UAVs 14 and the UAVs to which they will refuel. Another factor that can be considered is the characteristics of the payload carried by the UAV swarm 10. For example, a heavier payload may require additional propulsion UAVs 16 symmetrically distributed on the UAV swarm 10 to ensure that the mission UAVs 12 can carry the payload to the destination location DL. In some aspects, multiple factors are considered when selecting the number and type of core UAVs to include in the UAV swarm 10 and determining the appropriate distribution pattern of the core UAVs.

[0091] Figure 10 is a functional block diagram showing some components of a computing device 80 configured to implement method 60 according to one aspect of the present disclosure. As Figure 10 shown, the computing device 80 includes a processing circuit 82, a memory 84, a user interface 86, and a communication circuit 88.

[0092] According to various aspects of the present disclosure, the processing circuit 82 includes one or more microprocessors, microcontrollers, hardware circuits, discrete logic circuits, hardware registers, digital signal processors (DSPs), field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), or combinations thereof. Thus, in one aspect, the processing circuit 82 includes programmable hardware capable of executing software instructions stored, for example, as a machine-readable computer control program 90 in the memory 84. The processing circuit 82 is configured to execute the control program 90 to perform the aspects previously described in the present disclosure. This includes determining the characteristics of the task assigned to the UAV cluster 10, and based on that characteristic, selecting the number and type of individual UAVs that will make up the UAV cluster 10, and determining the distribution pattern of the selected "core" UAVs. Having been so determined, the UAV cluster 10 can be constructed in which the core UAVs are distributed according to the selected distribution pattern.

[0093] The memory 84 includes any non-transitory machine-readable storage medium known in the art or that can be developed, whether volatile or non-volatile, alone or in any combination including (but not limited to) solid state media (e.g., SRAM, DRAM, DDRAM, ROM, PROM, EPROM, flash memory, solid state drives, etc.), removable storage devices (e.g., Secure Digital (SD) cards, miniSD cards, microSD cards, memory sticks, thumb drives, USB flash drives, ROM cartridges, universal media discs), fixed drives (e.g., magnetic hard disk drives), etc. As Figure 10 shown, the memory 84 is configured to store a computer program product (e.g., the control program 90) that includes instructions executed by the processing circuit 82 to perform the aspects previously described in the present disclosure. Additionally, the memory 84 is configured to store various information and data, such as rules for selecting the number and type of individual UAVs to be used to construct the UAV cluster 10, and the corresponding distribution pattern of the core UAVs.

[0094] The user interface 86 includes circuitry configured to control the input and output (I / O) data paths of the computing device 80. The I / O data paths include those paths used to exchange signals with the user. For example, in some aspects, the user interface 86 includes various user input / output devices, including but not limited to one or more display devices, keyboards or keypads, mice, etc. Using these, a user of the computing device 80 can select the task to be assigned to a given UAV cluster 10, and input any parameters necessary to ensure the successful completion of the task assigned to the UAV cluster 10.

[0095] Communication circuit 88 includes circuitry configured to allow computing device 80 to transfer data and information with one or more other devices via a communication network (not shown). Generally, communication circuit 88 includes an ETHERNET card or other circuitry specifically configured to allow computing device 80 to transfer data and information. However, in other aspects of the present disclosure, communication circuit 88 includes a transceiver configured to send communication signals to and receive communication signals from another device via a wireless communication network. In aspects of the present disclosure, computing device 80 utilizes communication circuit 88 to transfer signals and data regarding assigned tasks to UAV swarm 10, and to one or more of the individual UAVs that make up the UAV swarm. By way of example, computing device 80 may transfer signals and data to various mission UAVs 12 in UAV swarm 10 to specifically configure those mission UAVs 12 to perform their respective assigned tasks.

[0096] As previously mentioned, the present disclosure does not limit the creation of UAV swarm 10 to any particular type of wing. The present disclosure also does not limit the creation of UAV swarm 10 to any particular type and / or number of individual UAVs. Instead, aspects of the present disclosure can be used to create UAV swarm 10 to form any wing shape, and further include any type and number of component UAVs. As described above, these particular aspects are determined based on knowledge of the tasks to be assigned to UAV swarm 10 and knowledge of the tasks to be assigned to the individual UAVs that make up UAV swarm 10.

[0097] For this purpose, Figures 11 - 13 A UAV swarm 10 formed in accordance with other aspects of the present disclosure is shown. In particular, Figure 11 A UAV swarm 100 is shown that includes a plurality of mission UAVs 12 and a plurality of "core" UAVs. In this aspect, the core UAVs include a fuel storage UAV 14, a propulsion UAV 16, and a sensor UAV 40. Additionally, in this aspect, UAV swarm 10 is configured to separate into UAV sub-swarms 100, 102, 104. Each UAV sub-swarm 100, 102, 104 can be configured to support the UAV swarm 10 mission as a whole, but is also configured to perform its own tasks. For example, mission UAV 12 can undock from a flying UAV sub-swarm 104 to fly to its own predetermined destination location DL and deliver its payload. Meanwhile, the remaining UAVs in UAV sub-swarm 104 (i.e., the remaining mission UAVs 12 and sensor UAV 40) will continue to perform the tasks assigned to UAV sub-swarm 104. After completing the task, the undocked mission UAV 12 will return to redock with UAV sub-swarm 104 for its return flight, as previously described.

[0098] In this regard, each of the UAV sub - clusters 100, 102, 104 can be independently controlled to perform its corresponding task. Thus, the number and type of core UAVs included in each of the UAV sub - clusters 100, 102, 104, and the distribution pattern of those core UAVs in the UAV sub - clusters 100, 102, 104 are determined based on the characteristics of the tasks assigned to the UAV sub - clusters 100, 102, 104. However, additionally, each UAV sub - cluster 100, 102, 104 is capable of controlling its own task instructions when separated from the other UAV sub - clusters 100.

[0099] As an example, the first core UAV (e.g., the propulsion UAV 16) in the UAV sub - cluster 100 can be configured as the "master UAV" to control all the UAVs in the UAV cluster 10 when all the UAV sub - clusters 100, 102, 104 are docked together. Thus, in this configuration, the other core UAVs (e.g., the propulsion UAVs 16 in the UAV sub - clusters 102 and 104 respectively) are controlled by the master UAV. However, when separated from the UAV cluster 10, each of the propulsion UAVs 16 in the UAV sub - clusters 100, 102, 104 will serve as its own "master UAV" for that UAV sub - cluster 100, 102, 104 while separated from the other UAV sub - clusters 100, 102, 104 of the UAV cluster 10. Upon re - docking, the propulsion UAV 16 of the UAV sub - cluster 92 will autonomously regain its "master UAV" status for the UAV cluster 10.

[0100] Figure 12 is a top view of the UAV cluster 10 configured according to another aspect of the present disclosure. In this regard, the UAV cluster 10 has a "delta" wing shape. This wing shape is very effective and provides a large wing area, thus reducing the load on the wings and increasing maneuverability. As Figure 11 shown, the UAV cluster 10 includes a plurality of mission UAVs 12, a plurality of fuel storage UAVs 14, a plurality of propulsion UAVs 16, and a power UAV 30 configured to enhance the electrical power capabilities of the other UAVs in the UAV cluster 10.

[0101] Figure 13 is a perspective view of the UAV cluster 10 having an "elliptical" wing shape according to another aspect of the present disclosure. The elliptical wing shape can be advantageous under certain conditions by providing greater lift by offering less drag than other wing shapes. As Figure 13 shown, the UAV cluster 10 includes a plurality of mission UAVs 12, a plurality of fuel storage UAVs 14, a plurality of propulsion UAVs 16, and a power UAV 30 configured to enhance the electrical power capabilities of the other UAVs in the UAV cluster 10.

[0102] The UAV swarm 10 created in accordance with the present disclosure provides benefits not available from conventionally created UAV swarms. In particular, by generating a UAV swarm 10 that includes selected “core” UAVs and determining their distribution pattern within the UAV swarm 10 based on the characteristics of the mission, the UAV swarm 10 achieves a higher cost - effectiveness when delivering payloads to one or more destination locations DL than its conventional counterparts. Additionally, the structure of the UAV swarm 10 is scalable and reconfigurable in flight. These capabilities readily facilitate “just - in - time” planning for using the UAV swarm to deliver payloads. Further, even if the mission assigned to a given UAV swarm 10 changes after it has been launched, aspects of the present disclosure allow the individual UAVs that make up the UAV swarm 10 to be rearranged, replaced, or augmented in accordance with any new mission parameters. In particular, in one aspect, the previously described computing device 80 can determine a new UAV complement and distribution pattern for the UAV swarm 10 while the UAV swarm 10 is in flight and cause reconfiguration instructions to be sent to the UAV swarm 10.

[0103] Aspects of the present disclosure also include various methods and processes as described herein, which are implemented using various hardware configurations configured in ways that vary in certain details from the broad description given above. For example, the docking member 24 of the aspects of the present disclosure previously discussed includes an electromagnet disposed on the frame 20. The docking member 24 in these aspects is controlled by one or more processing circuits to be activated to allow docking with one or more other UAVs (e.g., any of UAVs 12, 14, 16, 30, 40) to form the UAV swarm 10 and deactivated to allow undocking from other UAVs in the UAV swarm 10. However, as will be understood by those of ordinary skill in the art, the present invention is not limited to using electromagnets on the frames of UAVs to facilitate docking and undocking. In other aspects of the present disclosure, each of the UAVs includes a self - aligning docking mechanism that is controlled to engage and disengage the self - aligning docking mechanism of another UAV in the UAV swarm 10. In other words, certain embodiments can use one or more different types of docking mechanisms.

[0104] For example, Figures 14A - 14B and Figures 15A - 15BFIG. 0 shows one such self - aligning docking mechanism 110 according to an aspect of the present disclosure in the context of a pair of UAVs 12a, 12b. Such a docking mechanism can be used on any UAV regardless of the type of UAV, and thus, the UAVs are specified as UAV 12 only for illustrative purposes. Further, although each UAV 12a, 12b includes its own self - aligning docking mechanism 110, for clarity and ease of discussion, the following text describes the self - aligning docking mechanism 110 for a single UAV 12a.

[0105] As shown in these figures, the self - aligning docking mechanism 110 of UAV 12a includes a pair of edge - extending U - clips 112a, arms 114a extending from each edge - extending U - clip 112a, electromagnetic members 116a disposed at the ends of the arms 114a, a pair of docking alignment control circuits 118a, and a flexible seal 120a attached to the frame 20a of the UAV 12a. Additionally, the self - aligning docking mechanism 110 includes a docking claw servo - control circuit 122a, a clock - polarized servo - drive circuit 124a, a bearing - bushing member 126a fixedly coupled to the frame 20a, and a rotatable docking claw 130a coupled to the bearing - bushing member 126a. The rotatable docking claw 130a of this aspect also includes a pair of opposing grippers 132, 134 which, as will be seen in more detail later, are configured to move between an open position for undocking and a closed position for docking.

[0106] For a docking operation, first the UAVs 12a, 12b are flown so that they are very close to each other. In one aspect, this movement is manually controlled by an operator using a controller. In other aspects, each UAV 12a, 12b autonomously controls its own movement towards the other without operator intervention. In some aspects, the movement of one UAV 12a, 12b towards the other UAV 12a, 12b is controlled by both the operator and the UAVs 12a, 12b. For example, the operator can manually control UAV 12a to move towards UAV 12b until the UAVs 12a, 12b are within a predetermined distance of each other. Once within the predetermined distance, the UAVs 12a, 12b can be configured to autonomously complete the docking process. However, regardless of whether the operator provides any manual control, each UAV 12a, 12b is configured to communicate with the other to provide the information and data required for docking. The information and data exchanged by the UAVs 12a, 12b include, but are not limited to, their respective IDs, positions, and orientations relative to each other.

[0107] UAVs 12a and 12b are configured to implement a docking process in multiple stages or phases. During the first stage, a "coarse alignment" between UAVs 12a and 12b is achieved, where UAVs 12a and 12b are generally but not precisely aligned. In particular, in one aspect, each UAV 12a and 12b extends its arms 114a and 114b from their respective edges with U-shaped clips 112a and 112b towards the other. Sensors on UAVs 12a and 12b can assist in detecting the UAVs and in the initial positioning of UAVs 12a and 12b relative to each other. Then, the electromagnetic components 116a and 116b on each arm 114a and 114b are energized to attract each other. Once the electromagnetic components 116a and 116b come into contact with each other, the coarse alignment stage is completed, where the two UAVs 12a and 12b are coupled together.

[0108] As described above, even though UAVs 12a and 12b are coupled and coarsely aligned with each other, their respective docking mechanisms are not precisely aligned. Accordingly, aspects of the present disclosure configure UAVs 12a and 12b to implement a second stage in which the docking claws 130a and 130b self-align to improve the coarse alignment. In particular, once the electromagnetic components 116a and 116b come into contact or are very close to such contact, the docking alignment control circuits 118a and 118b detect each other. In this regard, the docking alignment control circuits 118a and 118b include light-emitting electro-optical alignment control circuits. Each docking alignment control circuit 118a and 118b detects the light emitted by the other and sends a corresponding alignment signal to its respective docking claw servo control circuit 122a and 122b. Based on the signals received from the docking alignment control circuits 118a and 118b, each docking claw servo control circuit 122a and 122b determines whether its respective docking claws 130a and 130b are sufficiently aligned with each other or whether further precise alignment is required. If precise alignment is required, each docking claw servo control circuit 122a and 122b sends an alignment signal to its corresponding clock polarization servo drive circuit 124a and 124b. In response, each clock polarization servo drive circuit 124a and 124b generates a command signal to rotate its respective docking claws 130a and 130b in one direction or the other to achieve a more precise alignment.

[0109] According to one aspect of the present disclosure, the rotations of docking claws 130a, 130b are complementary. That is, when the clockwise polarization servo drive circuit 124a of UAV 12a generates a control signal to rotate docking claw 130a about an axis / in a first direction (e.g., clockwise), the clockwise polarization servo drive circuit 124b of UAV 12b generates a complementary control signal to rotate docking claw 130b about the axis / in a second direction opposite to the first direction (e.g., counterclockwise). Additionally, determining the specific rotation directions of each of the docking claws 130a, 130b can be accomplished in various ways. In one aspect, for example, the rotation directions of each of the docking claws 130a, 130b are determined by message passing between UAVs 12a, 12b. In particular, the clockwise polarization servo drive circuit 124a can send a message to the clockwise polarization servo drive circuit 124b indicating the direction in which it will rotate docking claw 130a. Upon receipt, the clockwise polarization servo drive circuit 124b will also generate one or more signals to rotate docking claw 130b, but in the opposite direction.

[0110] In another aspect of the present disclosure, each of the clockwise polarization servo drive circuits 124a, 124b generates one or more control signals to rotate its respective docking claws 130a, 130b to a predetermined position. In such a predetermined position, the grippers 132, 134 of docking claw 130a are offset by approximately 90° relative to the grippers 136, 138 of docking claw 130b (see Figures 15A - 15B ).

[0111] However, regardless of the specific method employed, the two-stage method for aligning docking claws 130a, 130b according to the present disclosure conserves the energy source. More specifically, the arms 114a, 114b and the electromagnetic members 116a, 116b provide a basic alignment of UAVs 12a, 12b during a first stage to allow the docking claws 130a, 130b to be generally aligned with each other. Although this alignment is not precise and may not be entirely sufficient for docking, it is sufficient to place the grippers 132, 134, 136, and 138 generally in alignment with each other. This reduces the amount of power consumed to rotate the grippers 132, 134, 136, 138 into precise alignment during a second stage.

[0112] As Figure 14A and Figure 15A shown, the grippers 132, 134 and the grippers 136, 138 are in an "open" state. However, in Figure 14B and Figure 15B , the grippers 132, 134 and the grippers 136, 138 are in a "closed" state. As will be understood by those of ordinary skill in the art, there are various ways in which the grippers 132, 134, 136, 138 are configured to facilitate this function.

[0113] In one aspect, for example, the grippers 132, 134, 136, 138 include "shape memory alloy". Shape memory alloy includes a material that transforms into a first shape at a first temperature and into a second shape at a second temperature different from the first temperature. In other words, the alloy can spontaneously achieve this transformation without any external force acting on the material. In some aspects, this deformation is achieved by selectively applying an electric current to the shape memory alloy material including the grippers 132, 134, 136, 138 (e.g., to generate Joule heating and thereby selectively control the temperature of the grippers 132, 134, 136, 138).

[0114] More specifically, each docking claw servo control circuit 122a, 122b is configured to selectively apply an electric current to its corresponding docking claw 130a, 130b. For example, in the default state, neither of the docking claw servo control circuits 122a, 122b applies an electric current to the grippers 132, 134, 136, 138 (or alternatively, the electric current remains below a predetermined level), resulting in the grippers 132, 134, 136, 138 moving to the "closed" state (see Figure 14B , Figure 15B ). In the closed state, the ridges formed on the grippers 132, 134, 136, 138 contact each other, which helps to keep the UAVs 12a, 12b docked to each other. However, to "open" the docking claws 130a, 130b, the docking claw servo control circuits 122a, 122b are configured to apply an electric current to the grippers 132, 134, 136, 138. Applying the electric current causes the shape memory alloy to heat up, causing the grippers 132, 134, 136, 138 to move or "curl" away from each other (see Figure 14A , Figure 15A ). In this "open" state, the docking claws 130a, 130b can be precisely aligned with each other. Once aligned, the docking claw servo control circuits 122a, 122b stop applying an electric current to the docking claws 130a, 130b, causing the grippers 132, 134, 136, 138 to return to their original "closed" state again.

[0115] Figure 16 is a flowchart showing a method 140 for docking two UAVs 12a, 12b according to one aspect of the present disclosure. As detailed herein, Figure 16 the method 140 is performed by the docking claw servo control circuit 122a of the UAV 12a in two stages. However, those of ordinary skill in the art will readily understand that the description of the method 140 in the context of a given UAV 12a is for illustrative purposes only, and the method is easily extended to multiple UAVs.

[0116] In a first stage, method 140 begins with the docking claw servo control circuit 122a detecting the presence of another UAV (e.g., UAV 12b) (block 142). As previously described, such detection can be accomplished using one or more proximity sensors or any means known in the art. Once the docking claw servo control circuit 122a detects a very close presence of another UAV, data is exchanged with the other UAV (block 144). Such data can include any information desired or required, but in one aspect, includes the ID (identity) of the UAV as well as the position and / or orientation of the UAV. The docking claw servo control circuit 122a then activates the electromagnetic member 116a disposed at the terminal of the arm 114a (block 146) and causes the electro-optical alignment control device 118a to begin transmitting a signal, which in this case is light (block 148). The transmitted light will be detected by the corresponding electro-optical alignment control device 118b associated with the other UAV 12b.

[0117] In a second stage, method 140 requires the docking claw servo control circuit 122a to detect the alignment signal (e.g., light) transmitted by the electro-optical alignment control device 118b of UAV 12b (block 150). Once detected, the docking claw servo control circuit 122a sends these signals to the docking claw servo control circuit 122a (block 152), and then generates and sends an alignment signal to the clock polarization servo drive circuit 124a, causing the circuit to rotate the docking claw 130a (block 154) (e.g., the docking claw 130a rotates to resolve the orientation difference between UAV 12a and UAV 12b, such as a pitch difference). For example, the docking claw servo control circuit 122a then generates the necessary signal to open the docking claw 130a, such as a voltage or current above a specified threshold (block 156). As previously described, the docking claw 130a includes, in one aspect, a smart material, such as a smart memory alloy, which is configured to change its shape in response to the application of current. Thus, as long as current is applied to the smart memory alloy, the docking claw 130a remains in the open state.

[0118] The docking claw servo control circuit 122a then determines the amount and direction of rotation of the rotating docking claw 130a, as described above (block 158), and generates a signal required to rotate the docking claw 130a by the determined amount and direction (block 160). After alignment, the docking claw servo control circuit 122a generates a signal required to close the docking claw 130 (block 162). As described above, generating the signal required to close the docking claw 130a may include the docking claw servo control circuit 122a stopping generating or sending a signal that keeps the docking claw 130a open. By simply stopping sending the signal, various aspects of the present disclosure can achieve closing of the docking claw 130a while saving valuable energy sources. To open the docking claw 130a again (i.e., release the UAV 12a from another UAV), one aspect of the present invention requires the docking claw servo control circuit 122a to stop generating current and stop sending current to the docking claw 130a.

[0119] Figure 17 is a functional block diagram showing the docking claw servo control circuit 122 implemented as different hardware units and software modules according to one aspect of the present disclosure. As Figure 17 shown, the docking claw servo control circuit 122 includes an edge extension U-shaped clip control module / unit 172, a communication module / unit 174, an electro-optical transmitter / detector module / unit 176, a docking claw servo determination module / unit 178, and a docking claw control module / unit 180.

[0120] The edge extension U-shaped clip control module / unit 172 is configured to control the extension of the arm 114 from the edge extension U-shaped clip 112 in response to the UAV 12 detecting another UAV 12 with which it will dock. In particular, in response to one or more control signals, the edge extension U-shaped clip control module / unit 172 extends the arm 114 and activates an electromagnetic member 116 provided at the terminal of the arm 114 to magnetically couple to an electromagnetic member associated with another UAV 12. When undocking, the edge extension U-shaped clip control module / unit 172 is configured to disable the electromagnetic member 116 to allow the UAVs to disconnect from each other, and then subsequently retract the arm 114 into or towards the frame 20 of the UAV 12.

[0121] The communication module / unit 174 is configured to send data, signals, and information to the clock polarization servo drive circuit 124 and receive data, signals, and information from the clock polarization servo drive circuit 124 to effect rotation of the docking claw 130 and, in some aspects, communicate with one or more other processing circuits associated with the UAV 12. The electro-optical transmitter / detector module / unit 176 is configured to activate the docking alignment control circuit 118 to cause the docking alignment control circuit 118 to begin emitting light that is detected by a corresponding docking alignment control circuit 118 disposed on another UAV 12. Additionally, the docking alignment control circuit 118 is further configured to detect light emitted by a corresponding docking alignment control circuit 118 associated with another UAV.

[0122] The docking claw servo determination module / unit 178 is configured to determine the amount of rotation of the docking claw 130 and the direction in which the docking claw is to be rotated. The docking claw control module / unit 180 is configured to rotate the docking claw 130 in response to data output by the docking claw servo determination module / unit 178 and to open and close the docking claw 130 in response to selective application of current, as described above.

[0123] As described above, the present disclosure advantageously provides different types of UAVs, each configured to perform a different function. Additionally, such functional variation is advantageous when configuring a UAV swarm 10 for a particular type of task. For example, consider a task that requires the UAV swarm 10 to deliver one or more light payloads to one or more corresponding destination locations. In these cases, the individual UAVs in the UAV swarm 10 may not require an additional power source or fuel reserve but rather be configured to primarily include UAVs designed to carry individual light payloads. However, this UAV swarm configuration is different from a configuration of the UAV swarm 10 that is configured to fly long distances and / or carry heavy payloads and deliver the heavy payloads to destination locations. In these latter scenarios, it would be beneficial to configure the UAV swarm 10 to include one or more UAVs specifically designed to provide an additional power source for other UAVs in the UAV swarm.

[0124] For example, Figure 18 is a functional block diagram of a power source component 182 for a UAV that is specifically configured to generate power and distribute the power to one or more other UAVs in the UAV swarm 10. As Figure 18 shown, the power source component 182 includes: a power distribution section 190 configured to distribute the power source to other UAVs in the UAV swarm 10; and a generator section 200 configured to generate the power distributed to other UAVs in the UAV swarm 10.

[0125] More specifically, power distribution section 190 includes: navigation, communication, and flight control circuitry 192; electrical power storage circuitry 194; and power regulator circuitry 196 operably coupled to one or more power distribution ports 198. Navigation, communication, and flight control circuitry 192 includes circuitry (e.g., a microprocessor, etc.) configured to control the navigation and communication of a UAV configured with power source component 182. Specifically, navigation, communication, and flight control circuitry 192 is configured to exchange data and information with processing circuitry of other UAVs to ensure that a UAV configured with power source component 182 knows the flight plan, changes the flight plan, etc.

[0126] Additionally, in some aspects, navigation, communication, and flight control circuitry 192 exchanges messages with circuitry of other UAVs in UAV swarm 10 to permit requests for additional power sources. For example, such a request may be received when another UAV in the swarm has insufficient electrical power and needs to be charged to continue its mission. In one aspect, a received message requesting a power source is sent to power regulator circuitry 196 for processing. As described in more detail below, power regulator circuitry 196 may then provide a power source to the requesting UAV.

[0127] Electrical power storage circuitry 194 includes circuitry configured to store electrical power generated by generator section 200. In this regard, power source component 182 may distribute the power stored in electrical power storage circuitry 194 to other UAVs under the control of power regulator circuitry 196.

[0128] Power regulator circuitry 196 (which also includes microprocessor circuitry) permits or denies requests for additional power sources received from navigation, communication, and flight control circuitry 192. If the request is permitted, power regulator circuitry 196 generates control signals required to distribute the power stored in electrical power storage circuitry 194 to the requesting UAV via one or more of power distribution ports 198. Additionally, in one aspect, power regulator circuitry 196 is configured to regulate the power source provided to the power distribution ports. This regulation improves the quality of the electrical power provided to power distribution ports 198 by eliminating power spikes, regulating power levels, suppressing noise, etc.

[0129] The generator section 200 includes a microturbine engine 202 and a generator 220. The microturbine engine 202 further includes a fuel reservoir 204, a combustion chamber 206, a compressor 208, an exhaust device 210, and a turbine 212. In operation, fuel from the fuel reservoir 204 is provided to the combustion chamber 206, where the fuel is mixed with and burned with air A entering the compressor 208. The resulting combustion gases drive the turbine 212, which in turn drives the generator 220 to generate electricity. The generated electricity is provided to the power regulator circuit 196, which then regulates the electrical power and stores the electrical power in the electrical power storage circuit 194 for later delivery to a requesting UAV through the power distribution port 198, as described above.

[0130] In addition, the present disclosure includes embodiments in accordance with the following clauses:

[0131] 1. A cluster of unmanned aerial vehicles (UAVs), comprising:

[0132] A plurality of mission UAVs arranged in a cluster, wherein a group of one or more mission UAVs is configured for controlled independent flight; and

[0133] A plurality of core UAVs distributed throughout the cluster according to a selected distribution pattern, the selected distribution pattern distributing the core UAVs according to predefined mission characteristics of the UAV cluster.

[0134] 2. The UAV cluster according to clause 1, wherein each core UAV and each mission UAV in the UAV cluster have the same size and are identical.

[0135] 3. The UAV cluster according to clause 1, wherein one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on the predefined mission characteristics.

[0136] 4. The UAV cluster according to clause 3, wherein the predefined mission characteristics include one or more of the following:

[0137] The distance between the destination location and the launch location of the UAV cluster;

[0138] The type of mission that the group of one or more mission UAVs is configured to perform;

[0139] The number of predefined intermediate waypoints of the UAV cluster between the launch location and the destination location of the UAV cluster; and

[0140] The load characteristics of the load carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0141] 5. The UAV swarm according to clause 3, wherein one of the plurality of core UAVs to be distributed throughout the swarm comprises one of the following:

[0142] A propulsion UAV configured to augment the propulsion force provided by each individual mission UAV in the swarm;

[0143] A fuel storage UAV comprising a fuel storage tank for storing fuel and configured to increase the fuel consumed by each individual mission UAV in the swarm;

[0144] A power UAV configured to increase the electrical power consumed by each individual mission UAV in the swarm; and

[0145] A sensor UAV comprising sensors.

[0146] 6. The UAV swarm according to clause 5, wherein the sensors comprise a camera configured to capture images of a destination location.

[0147] 7. The UAV swarm according to clause 5, wherein the sensors comprise a radar.

[0148] 8. The UAV swarm according to clause 1, wherein the first core UAV is configured to control the operation of each of the other core UAVs.

[0149] 9. The UAV swarm according to clause 8, wherein the second core UAV is configured to control the operation of one or more of the plurality of mission UAVs, the second core UAV being different from and controlled by the first core UAV.

[0150] 10. An unmanned aerial vehicle (UAV) system comprising:

[0151] A plurality of individual UAVs arranged in a swarm, the plurality of individual UAVs comprising:

[0152] A plurality of mission UAVs, wherein a group of one or more mission UAVs is configured for controlled independent flight; and

[0153] A plurality of core UAVs distributed throughout the swarm according to a selected distribution pattern, the selected distribution pattern distributing the core UAVs within the swarm according to predefined mission characteristics of the UAV swarm.

[0154] 11. The UAV system according to clause 10, wherein the selected distribution pattern defines a corresponding location for each core UAV within the UAV swarm.

[0155] 12. The UAV system according to clause 10, wherein each UAV in the UAV cluster has the same size and is uniform.

[0156] 13. The UAV system according to clause 10, wherein one or both of the number and type of core UAVs to be distributed across the entire UAV cluster are selected based on predefined mission characteristics.

[0157] 14. The UAV system according to clause 10, wherein the predefined mission characteristics include one or more of the following:

[0158] The distance between the destination location and the launch location of the UAV cluster;

[0159] The type of mission that the group of one or more mission UAVs is configured to perform;

[0160] The number of predefined intermediate waypoints of the UAV cluster between the launch location and the destination location of the UAV cluster; and

[0161] The load characteristics of the load carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0162] 15. The UAV system according to clause 10, wherein the plurality of core UAVs includes:

[0163] A first core UAV configured to control the operation of each of the other core UAVs in the cluster; and

[0164] A second core UAV, different from the first core UAV, and configured to control the operation of the plurality of mission UAVs.

[0165] 16. A method of operating a cluster of unmanned aerial vehicles (UAVs), the method comprising:

[0166] Determining mission characteristics of a mission assigned to the UAV cluster; and

[0167] Based on the mission characteristics:

[0168] Arranging a plurality of mission UAVs to form the UAV cluster, wherein one or more of the mission UAVs are configured for controlled independent flight;

[0169] Selecting a distribution pattern for the plurality of core UAVs, wherein the distribution pattern identifies a corresponding location in the UAV cluster for each of the plurality of core UAVs; and

[0170] Distributing the plurality of core UAVs across the entire UAV cluster according to the distribution pattern.

[0171] 17. The method according to clause 16, further comprising selecting one or both of the number and type of core UAVs to be distributed across the entire UAV cluster based on the task characteristics.

[0172] 18. The method according to clause 16, wherein each of the mission UAVs and the core UAVs forming the UAV cluster has the same size and is uniform, and wherein selecting the distribution pattern of the plurality of core UAVs based on the task characteristics comprises selecting the distribution pattern based on one or more of the following:

[0173] The distance between the destination location and the launch location of the UAV cluster;

[0174] The type of mission that the group of one or more mission UAVs is configured to perform;

[0175] The number of intermediate waypoints between the launch location and the destination location of the UAV cluster; and

[0176] The characteristics of the payload carried by the UAV cluster and delivered by the one or more mission UAVs.

[0177] 19. The method according to clause 16, wherein the plurality of mission UAVs and the plurality of core UAVs are releasably coupled to each other in the UAV cluster, and wherein the method further comprises communicatively connecting each of the core UAVs to one or more of the plurality of mission UAVs.

[0178] 20. The method according to clause 16, further comprising:

[0179] Designating a first core UAV as a primary core UAV;

[0180] Using the primary core UAV to control one or more second core UAVs; and

[0181] Using at least one of the second core UAVs to control one or more of the mission UAVs.

[0182] 21. A self-aligning docking mechanism for an unmanned aerial vehicle (UAV), the self-aligning docking mechanism comprising:

[0183] An alignment circuit configured to generate an alignment signal representing the current alignment of the UAV with a proximal UAV in response to detecting an indicator signal transmitted by the proximal UAV;

[0184] A docking claw configured to grip a corresponding docking claw provided on the proximal UAV; and

[0185] A docking control circuit, which is configured to:

[0186] Align the docking claw with the corresponding docking claw on the proximal UAV based on the alignment signal, and

[0187] Control the docking claw to grip the corresponding docking claw to dock the UAV to the proximal UAV.

[0188] 22. The self-aligning docking mechanism according to clause 21, further comprising an extensible arm, the extensible arm being configured to be releasably attached to a corresponding extensible arm on the proximal UAV.

[0189] 23. The self-aligning docking mechanism according to clause 22, wherein the extensible arm includes a magnetic component, the magnetic component being configured to be releasably connected to a corresponding magnetic component provided on the corresponding extensible arm of the proximal UAV.

[0190] 24. The self-aligning docking mechanism according to clause 21, further comprising a servo driver, the servo driver being operably connected to both the docking claw and the docking control circuit, and wherein, in order to align the docking claw with the corresponding docking claw, the docking control circuit is configured to:

[0191] Determine whether the docking claw is aligned with the corresponding docking claw in response to an analysis of the alignment signal; and

[0192] Send an alignment message to the servo driver in response to determining that the docking claw and the corresponding docking claw are not aligned.

[0193] 25. The self-aligning docking mechanism according to clause 24, wherein, in order to align the docking claw with the corresponding docking claw, the servo driver is configured to:

[0194] Generate one or more alignment commands in response to receiving the alignment message from the docking control circuit; and

[0195] Use the one or more alignment commands to rotate the docking claw about a longitudinal axis.

[0196] 26. The self-aligning docking mechanism according to clause 21, wherein the docking claw is configured to move between an open state in which it is disengaged from the corresponding docking claw and a closed state in which it is docked with the corresponding docking claw.

[0197] 27. The self-aligning docking mechanism according to clause 26, wherein the docking claw includes opposing first and second grippers made of shape memory alloy, and wherein the docking control circuit is further configured to:

[0198] Apply a first voltage to each of the first and second grippers to move the docking claws to the open state, where the first voltage meets or exceeds a threshold; and

[0199] Reduce the first voltage applied to the first and second grippers to a second voltage to move the docking claws to the closed state, where the second voltage is less than the threshold.

[0200] 28. The self-aligning docking mechanism according to clause 27, wherein in order to reduce the first voltage to the second voltage, the docking control circuit is configured to stop applying the first voltage to the first and second grippers.

[0201] 29. A method of docking a first unmanned aerial vehicle (UAV) and a second UAV, the method implemented by the first UAV and comprising:

[0202] During a first docking phase:

[0203] In response to detecting an indicator signal transmitted by the second UAV, generate an alignment signal indicating the current alignment state between the first and second UAVs; and

[0204] During a second docking phase:

[0205] Align the docking claws of the first UAV with the corresponding docking claws of the second UAV based on the alignment signal;

[0206] And

[0207] Dock the first UAV and the second UAV, where the docking includes controlling the docking claws of the first UAV to grip the corresponding docking claws of the second UAV.

[0208] 30. The method according to clause 29, further comprising: during the first docking phase, releasably couple an arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0209] 31. The method according to clause 30, wherein releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV includes: magnetically coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0210] 32. The method according to clause 29, wherein aligning the docking claws of the first UAV with the corresponding docking claws of the second UAV based on the alignment signal includes: rotating the docking claws of the first UAV about a longitudinal axis in response to determining that the first UAV and the second UAV are misaligned.

[0211] 33. The method according to clause 29, wherein the docking claws of the first UAV include opposite first and second grippers made of a shape memory alloy, and wherein the method further comprises:

[0212] Applying a first voltage to each of the first and second grippers to open the docking claws, wherein the first voltage meets or exceeds a threshold; and

[0213] Reducing the first voltage applied to the first and second grippers to a second voltage to close the docking claws, wherein the second voltage is less than the threshold.

[0214] 34. The method according to clause 33, wherein reducing the first voltage to the second voltage includes stopping applying the first voltage to the first and second grippers.

[0215] 35. A non - transitory computer - readable medium storing software instructions that, when executed by a processing circuit on a first unmanned aerial vehicle (UAV), cause the processing circuit to:

[0216] During a first docking phase:

[0217] In response to detecting an indicator signal transmitted by the second UAV, generate an alignment signal indicating a current alignment state between the docking claws of the first UAV and the corresponding docking claws of the second UAV; and

[0218] During a second docking phase:

[0219] Align the docking claws of the first UAV with the corresponding docking claws of the second UAV based on the alignment signal; and

[0220] Dock the first and second UAVs by controlling the docking claws of the first UAV to grip the corresponding docking claws of the second UAV.

[0221] The foregoing description and drawings represent non - limiting examples of the methods and apparatuses taught herein. Thus, aspects of the present disclosure are not limited by the foregoing description and drawings. Instead, aspects of the present disclosure are limited only by the appended claims and their legal equivalents.

Claims

1. An unmanned aerial vehicle (UAV) cluster (10), comprising: A plurality of mission UAVs arranged in a cluster, wherein a group of one or more mission UAVs are configured for controlled independent flight; And A plurality of core UAVs (14, 16, 30, 40) distributed throughout the cluster according to a selected distribution pattern, the selected distribution pattern distributing the core UAVs according to predefined mission characteristics of the UAV cluster.

2. The UAV cluster according to claim 1, wherein each core UAV and each mission UAV in the UAV cluster have the same size and are identical.

3. The UAV cluster according to any one of claims 1-2, wherein one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on the predefined mission characteristics.

4. The UAV cluster according to claim 3, wherein the predefined mission characteristics include one or more of the following: The distance between the destination location (DL) and the launch location (DP) of the UAV cluster; The type of mission that the group of one or more mission UAVs are configured to perform; The number of predefined intermediate waypoints of the UAV cluster between the launch location and the destination location of the UAV cluster; And The load characteristics of the load carried by the UAV cluster and delivered by the group of one or more mission UAVs.

5. The UAV cluster according to claim 3, wherein one of the plurality of core UAVs to be distributed throughout the cluster comprises one of the following: A propulsion UAV (16), configured to enhance the propulsion force provided by each individual mission UAV in the cluster; A fuel storage UAV (14), comprising a fuel storage (28) for storing fuel, and configured to increase the fuel consumed by each individual mission UAV in the cluster; A power UAV (30), configured to increase the electrical power consumed by each individual mission UAV in the cluster; and A sensor UAV (40), comprising a sensor (46).

6. The UAV cluster according to claim 5, wherein the sensor comprises a camera configured to capture an image of the destination location.

7. The UAV cluster according to claim 5, wherein the sensor comprises a radar.

8. The UAV cluster according to any one of the preceding claims, wherein a first core UAV is configured to control the operation of each of the other core UAVs.

9. The UAV cluster according to claim 8, wherein a second core UAV is configured to control the operation of one or more of the plurality of mission UAVs, the second core UAV being different from the first core UAV and controlled by the first core UAV.

10. A method (60) of operating an unmanned aerial vehicle cluster (10), the method comprising: Determining (62) the mission characteristics of a mission assigned to the UAV cluster; And Based on the mission characteristics: Arrange (64) a plurality of mission UAVs (12) to form the UAV swarm, wherein one or more of the mission UAVs are configured for controlled independent flight; Select (68) a distribution pattern for a plurality of core UAVs (14, 16, 30, 40), wherein the distribution pattern identifies a corresponding position in the UAV swarm for each of the plurality of core UAVs; and Distribute (70) the plurality of core UAVs throughout the UAV swarm according to the distribution pattern.

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