Aircraft device (variants), self-propelled module, payload, system and method for moving a payload (variants)

Abstract

To optimize flight characteristics and the possibility of non-stop flight of a payload.SOLUTION: The housing of the aerial device is provided with one or more guides, each configured to removably interact with the docking module of the payload to be movably mounted or suspended on the guide. At least one of the guides is configured to removably connect or dock with one or more guides of a connected housing of another aircraft device to form a cluster guide. The control module is configured to move the payload along the cluster guide to at least one other aircraft device and to undock the aircraft device from the at least one other aircraft device while the aircraft device is in the airspace.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to means and methods for moving transport equipment, particularly payloads, and more particularly to systems and methods for moving payloads based on the use of aircraft devices, self-propelled modules and payloads, each of which may be used in such systems and methods individually or in combination with one another. [Background technology]

[0002] To date, several different scalable automated transport systems have been developed for transporting or delivering payloads. Despite the acceptable speeds and payload capacities of such automated transport systems, existing automated transport systems suffer from a significant drawback in that they are unable to automatically redistribute payloads during the course of transporting or delivering the payload to its destination.

[0003] Therefore, there is a need to develop methods and systems for moving payloads.

[0004] In particular, various transport systems have become popular that are based on the use of extendable autonomous aircraft units or other types of self-propelled devices having various housing designs and provided with propulsion units that allow them to move and navigate in airspace.

[0005] For example, U.S. Patent Application No. 20220144431 (hereinafter referred to as US20220144431), published on May 12, 2022, presents a system for moving payloads in the form of cluster vehicles, the system comprising aircraft devices that are removably docked to one another, each of which is provided with an air propulsion unit that enables movement of such cluster vehicles in the air, and which has a housing provided with a docking module that enables removably connecting the housing of the aircraft device to the housing of another aircraft device while docking such aircraft devices to one another, the housing further provided with a control module configured to receive control commands to enable removably docking of the housing of the aircraft device to the housing of at least one other aircraft device.

[0006] It should be noted that in the system for moving payloads in the form of cluster vehicles disclosed in US20220144431, the payloads may be in a fixed position relative to the housing of a particular one of the aircraft devices forming said cluster aircraft device, which also makes it impossible to redistribute the payload on said vehicle.

[0007] Therefore, a major drawback of the known system for moving payloads in the form of cluster vehicles, as disclosed in US20220144431, is the inability to redistribute the payload on said vehicles.

[0008] Therefore, there is a clear need to further improve known systems, methods, aircraft devices and / or self-propelled modules for moving payloads, particularly to enable redistribution of payloads.

[0009] Therefore, the technical problem solved by the present invention is to create a system, method, aircraft device and self-propelled module for moving a payload, each of which at least partially remedies the above-mentioned drawback of known systems for moving a payload, namely the inability to redistribute the payload. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] U.S. Patent Publication No. 20220144431 Summary of the Invention

[0011] The object of the present invention is to create a system, method, aircraft and self-propelled module for moving a payload, which solves at least the above-mentioned technical problems of each of the prior art, and which expands the range of means for moving a payload.

[0012] The problem at hand is solved in a first aspect of the present invention by the fact that the subject aircraft device comprises: (i) a housing for an aircraft device, the housing being provided with one or more air propulsion units enabling movement of the aircraft device through the air and one or more docking modules each configured to removably connect the housing to a housing of another aircraft device while docking the aircraft devices with each other; and (ii) a control module configured to receive control commands to enable docking of the aircraft device to at least one other aircraft device; (a) the housing of the aircraft device is further provided with one or more guides, each of which is configured to carry or suspend a payload thereon and to move the carried payload along the guide; and (b) at least one of the guides is configured to removably connect to or dock with one or more guides of the connected housing of the other aircraft device to form a cluster guide.

[0013] Furthermore, the problem at hand is solved in a second aspect of the present invention by the fact that (i) in the subject aircraft device comprising a housing for an aircraft device, the housing comprising one or more air propulsion units enabling movement of the aircraft device through the air, and a control module, (a) the housing for the aircraft device is further provided with one or more guides, each of which is configured to carry or suspend a payload thereon and move said payload along said guide, (b) at least one of said guides is configured to detachably connect to or dock with one or more guides of the housing of another aircraft device to form a cluster guide while docking said aircraft devices with each other, and (c) the control module is configured to receive control commands to enable docking of said aircraft devices with each other.

[0014] Furthermore, the problem at hand is solved in a third aspect of the present invention by the fact that (i) in the subject cluster aircraft device comprising two or more aircraft devices docked to one another according to the first aspect of the present invention, (a) the control module further enables undock of at least one of the docked aircraft devices to enable the formation of a cluster guide from the guides of the remaining docked aircraft devices, and / or enables docking of yet another aircraft device according to the first aspect of the present invention to one of the docked aircraft devices to enable the formation of a cluster guide from the guides of the docked aircraft devices.

[0015] Furthermore, the problem at hand is solved in a fourth aspect of the present invention by the fact that (i) in the subject cluster aircraft device comprising two or more aircraft devices docked to one another according to the second aspect of the present invention, (a) the control module further enables undock of at least one of the docked aircraft devices to enable the formation of a cluster guide from the guides of the remaining docked aircraft devices, and / or enables docking of yet another aircraft device according to the second aspect of the present invention to one of the docked aircraft devices to enable the formation of a cluster guide from the guides of the docked aircraft devices.

[0016] Furthermore, the problem at hand is solved in a fifth aspect of the present invention by the fact that the subject payload comprises (i) a payload housing, the housing being provided with one or more docking modules, at least one of which is configured to interact with at least one guide of an aircraft device or a self-propelled module to enable movement of the payload housing along said at least one guide, and / or at least one guide, at least one of which is configured to interact with at least one docking module of an aircraft device or at least one docking module of a self-propelled module to enable movement of said aircraft device or said self-propelled module along said at least one guide.

[0017] Furthermore, the problem at hand is solved in a sixth aspect of the present invention by the fact that in the subject self-propelled module comprising (i) a housing of a self-propelled module provided with one or more air propulsion units enabling the movement of the aircraft device in the air and provided with one or more additional movement means, and (ii) a control unit configured to control the operation of said air propulsion units and to actuate at least one of said additional movement means, (a) the housing of the self-propelled module is further provided with one or more docking modules, each configured to enable the loading or suspension of said self-propelled module on a guide and to enable the movement of said self-propelled module along said guide, and / or one or more guides, at least one of which is configured to detachably interact with a docking module of the aircraft device or a docking module of a payload.

[0018] Furthermore, the problem at hand is solved in a seventh aspect of the present invention by the fact that the subject system for transferring payloads comprises (i) one or more aircraft devices according to the first aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the first aspect of the present invention, or one or more cluster aircraft devices according to the third aspect of the present invention, by removably connecting its docking modules to one another, thereby enabling movement of payloads along cluster guides formed from the guides of the docked aircraft devices, or (ii) one or more cluster aircraft devices according to the third aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the first aspect of the present invention, or one or more cluster aircraft devices according to the third aspect of the present invention, by removably connecting its docking modules to one another, thereby enabling movement of payloads along cluster guides formed from the guides of the docked aircraft devices.

[0019] Furthermore, the problem at hand is solved in an eighth aspect of the present invention by the fact that the subject payload transfer method comprises the steps of: (i) docking at least one of one or more aircraft devices according to the first aspect of the present invention or one or more cluster aircraft devices according to the third aspect of the present invention to one or more additional aircraft devices according to the first aspect of the present invention or one or more additional cluster aircraft devices according to the third aspect of the present invention by connecting docking modules of the aircraft devices to be docked to each other to form cluster guides from the guides of the aircraft devices to be docked to each other; and (ii) transferring a payload into at least one of the docked aircraft devices along the formed cluster guide.

[0020] In some embodiments, the docking step is preceded by a rotation of the housing of the aircraft device relative to the guide.

[0021] Furthermore, the problem at hand is that, in a ninth aspect of the present invention, the subject payload moving system comprises (i) one or more aircraft devices according to the first aspect of the present invention or one or more cluster aircraft devices according to the third aspect of the present invention, and (ii-i) one or more payloads according to the fifth aspect of the present invention, at least one of which is adapted to move to at least one of said aircraft devices in a manner that enables movement of said at least one payload along said at least one guide of said payload by interacting at least one of said at least one payload's guides with at least one docking module of said at least one aircraft device, or to move said at least one payload along said at least one guide of said aircraft device by interacting at least one of said docking modules of said payload with at least one guide of said at least one aircraft device. This problem is solved by the fact that the present invention comprises a payload that is docked to enable movement of the payload, or (ii-ii) one or more payloads according to the fifth aspect of the present invention, at least one of which is docked to at least one of the cluster aircraft devices in a manner that enables movement of the at least one cluster aircraft device along the payload's at least one guide by interacting at least one of the payload's guides with the at least one docking module of the at least one cluster aircraft device, or in a manner that enables movement of the at least one payload along the at least one guide of the cluster aircraft device by interacting at least one of the payload's docking modules with the at least one guide of the at least one cluster aircraft device.

[0022] In some embodiments, the docking step is preceded by a rotation of the housing of the aircraft device relative to the guide.

[0023] Furthermore, the immediate problem is solved in a tenth aspect of the present invention by the fact that the subject payload movement method comprises (i) a step of docking one or more payloads according to the fifth aspect of the present invention to at least one of one or more aircraft devices according to the first aspect of the present invention or one or more cluster aircraft devices according to the third aspect of the present invention, respectively, in a manner that allows movement of the aircraft device and the aircraft device docked thereto along the at least one guide of the payload by interacting at least one of the guides of the payload with a docking module of the at least one aircraft device, or in a manner that allows movement of the payload along the guide of the aircraft device by interacting at least one of the docking modules of the payload with a guide of the at least one aircraft device.

[0024] In some embodiments, the docking step is preceded by a rotation of the housing of the aircraft device relative to the guide.

[0025] Furthermore, the problem at hand is solved in an eleventh aspect of the present invention by the fact that the subject payload transfer system comprises (i) one or more aircraft devices according to the first aspect of the present invention or at least one cluster aircraft device according to the third aspect of the present invention, and (ii) one or more self-propelled modules according to the sixth aspect of the present invention, wherein at least one of the self-propelled modules is docked to at least one of the aircraft devices according to the first aspect of the present invention or to at least one of the aircraft devices forming the at least one cluster aircraft device according to the third aspect of the present invention, in such a way that at least one of the guides of the self-propelled module interacts with a docking module of the at least one aircraft device, thereby enabling movement of the self-propelled module of the aircraft device and the aircraft device docked thereto along the at least one guide, or in such a way that at least one of the docking modules of the self-propelled module interacts with a guide of the at least one aircraft device, thereby enabling movement of the self-propelled module along the guide of the aircraft device.

[0026] Furthermore, the immediate problem is solved in a twelfth aspect of the present invention by the fact that the subject payload transfer method comprises (i) a step of docking one or more self-propelled modules according to the sixth aspect of the present invention to at least one of one or more aircraft devices according to the first aspect of the present invention or one or more cluster aircraft devices according to the third aspect of the present invention, respectively, in such a way that at least one of the guides of the self-propelled modules interacts with a docking module of the at least one aircraft device, thereby enabling movement of the aircraft device and the aircraft device docked thereto along the at least one guide of the self-propelled module, or in such a way that at least one of the docking modules of the self-propelled modules interacts with a guide of the at least one aircraft device, thereby enabling movement of the self-propelled module along the guide of the aircraft device.

[0027] In some embodiments, the docking step is preceded by a rotation of the housing of the self-propelled module relative to the guide.

[0028] Furthermore, the problem at hand is solved in a thirteenth aspect of the present invention by the fact that the subject system for moving payloads comprises (i) one or more payloads according to the fifth aspect of the present invention, and (ii) one or more self-propelled modules according to the sixth aspect of the present invention, at least one of the self-propelled modules being removably docked to at least one of said payloads in such a way as to enable movement of said payload along said at least one guide of the self-propelled module by interacting with a docking module of said at least one payload, or in such a way as to enable movement of said at least one self-propelled module along said at least one guide of the payload by interacting with a guide of said at least one payload.

[0029] Furthermore, the problem at hand is solved in a fourteenth aspect of the present invention by the fact that the subject payload movement method comprises (i) a step of docking each of one or more self-propelled modules according to the sixth aspect of the present invention to at least one of one or more payloads according to the fifth aspect of the present invention, respectively, in such a way that at least one of the guides of the self-propelled module interacts with a docking module of the at least one payload, thereby enabling movement of the payload along the at least one guide of the self-propelled module, or in such a way that at least one of the docking modules of the self-propelled module interacts with a guide of the at least one payload, thereby enabling movement of the self-propelled module along the guide of the payload.

[0030] In some embodiments, the docking step is preceded by a rotation of the housing of the aircraft device relative to the guide.

[0031] Furthermore, the problem at hand is solved in a fifteenth aspect of the present invention by the fact that in the subject aircraft device comprising (i) a housing of an aircraft device, the housing being provided with one or more air propulsion units enabling movement of the aircraft device through the air, and (ii) a control module, (a) the housing of the aircraft device is further provided with one or more guides, each configured to carry or suspend a payload thereon, to enable simultaneous movement of the payload along the guides and movement of the guides relative to the housing, and (b) at least one of the guides is configured to detachably connect to or dock with one or more guides of the housing of another aircraft device to form a cluster guide, while docking the aircraft devices with each other.

[0032] Furthermore, the problem at hand is solved in a sixteenth aspect of the present invention by the fact that the subject cluster aircraft device (i) comprises two or more aircraft devices docked to each other according to the fifteenth aspect of the present invention, (a) the control module further enables undock of at least one of the docked aircraft devices to enable formation of a cluster guide from the guides of the remaining docked aircraft devices, and / or enables docking of yet another aircraft device according to the fifteenth aspect of the present invention to one of the docked aircraft devices to enable formation of a cluster guide from the guides of the docked aircraft devices, and (b) the control module further enables movement of a payload along the cluster guide and movement of at least a portion of the cluster guide relative to at least one of the housings of the docked aircraft devices.

[0033] Furthermore, the problem at hand is solved in a seventeenth aspect of the present invention by the fact that in the subject aircraft device comprising: (i) a housing for an aircraft device, the housing being provided with one or more air propulsion units enabling movement of the aircraft device through the air and one or more docking modules each configured to removably connect the housing to a housing of another aircraft device while docking the aircraft devices with each other; and (ii) a control module configured to receive control commands to enable docking of the aircraft device to at least one other aircraft device, (a) the housing of the aircraft device is further provided with one or more guides each configured to carry or suspend a payload thereon to enable simultaneous movement of the payload along the guides and movement of the guide relative to the housing; and (b) at least one of the guides is configured to removably connect to or dock with one or more guides of the connected housing of the other aircraft device to form a cluster guide.

[0034] Furthermore, the problem at hand is solved in an 18th aspect of the present invention by the fact that the subject cluster aircraft device (i) comprises two or more aircraft devices docked to each other according to the 17th aspect of the present invention, (a) the control module further enables undock of at least one of the docked aircraft devices to enable formation of a cluster guide from the guides of the remaining docked aircraft devices, and / or enables docking of yet another aircraft device according to the 17th aspect of the present invention to one of the docked aircraft devices to enable formation of a cluster guide from the guides of the docked aircraft devices, and (b) the control module further enables movement of a payload along the cluster guide and movement of at least a portion of the cluster guide relative to at least one of the housings of the docked aircraft devices.

[0035] Furthermore, the problem at hand is solved in a nineteenth aspect of the present invention by the fact that the subject system for transferring payloads comprises: (i) one or more aircraft devices according to the second aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the second aspect of the present invention, or to one or more cluster aircraft devices according to the fourth aspect of the present invention, by removably connecting its guides to one another to enable movement of payloads along cluster guides formed from the guides of the docked aircraft devices; or (ii) one or more cluster aircraft devices according to the fourth aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the second aspect of the present invention, or to one or more cluster aircraft devices according to the fourth aspect of the present invention, by removably connecting its guides to one another to enable movement of payloads along cluster guides formed from the guides of the docked aircraft devices.

[0036] Furthermore, the immediate problem is solved in a twentieth aspect of the present invention by the fact that the subject payload transfer method comprises the steps of: (i) docking at least one of one or more aircraft devices according to the second aspect of the present invention or one or more cluster aircraft devices according to the fourth aspect of the present invention to one or more additional aircraft devices according to the second aspect of the present invention or one or more additional cluster aircraft devices according to the fourth aspect of the present invention by detachably connecting guides of the aircraft devices to be docked with each other to form cluster guides from the guides of the aircraft devices to be docked with each other; and (ii) transferring a payload into at least one of the docked aircraft devices along the formed cluster guide.

[0037] An embodiment is possible in which the step of payload translation is preceded by a rotation of the payload relative to the cluster guide.

[0038] Furthermore, the problem at hand is solved in a 21st aspect of the present invention by the fact that the subject payload moving system comprises: (i) one or more aircraft devices according to the 15th aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the 15th aspect of the present invention, or one or more cluster aircraft devices according to the 16th aspect of the present invention, by removably connecting their guides to each other, thereby enabling simultaneous movement of a payload along cluster guides formed from the guides of the docked aircraft devices and movement of at least a portion of the cluster guide relative to one or more housings of the docked aircraft devices; or (ii) one or more cluster aircraft devices according to the 16th aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the 15th aspect of the present invention, or one or more cluster aircraft devices according to the 16th aspect of the present invention, by removably connecting their guides to each other, thereby enabling simultaneous movement of a payload along cluster guides formed from the guides of the docked aircraft devices and movement of at least a portion of the cluster guide relative to one or more housings of the docked aircraft devices.

[0039] Furthermore, the immediate problem is solved in a 22nd aspect of the present invention by the fact that the subject payload transfer method comprises the steps of: (i) docking at least one of one or more aircraft devices according to the 15th aspect of the present invention or one or more cluster aircraft devices according to the 16th aspect of the present invention to one or more additional aircraft devices according to the 15th aspect of the present invention or one or more additional cluster aircraft devices according to the 16th aspect of the present invention by detachably connecting guides of the aircraft devices to be docked with each other to form cluster guides from the guides of the aircraft devices to be docked with each other; and (ii) simultaneously moving at least a portion of the formed cluster guide relative to one or more housings of the docked aircraft devices and transferring a payload along the formed cluster guide into at least one of the docked aircraft devices.

[0040] Furthermore, the problem at hand is that, in a twenty-third aspect of the present invention, the subject payload transfer system comprises (i) one or more aircraft devices according to the seventeenth aspect of the present invention, at least one of which is removably docked to one or more additional aircraft devices according to the seventeenth aspect of the present invention, or to one or more cluster aircraft devices according to the eighteenth aspect of the present invention, by removably connecting their docking modules to one another to enable simultaneous movement of a payload along cluster guides formed from guides of the docked aircraft devices and movement of at least a portion of the cluster guides relative to one or more housings of the docked aircraft devices. The problem is solved by the fact that at least one of the cluster aircraft devices is detachably docked to one or more additional aircraft devices according to the seventeenth aspect of the present invention, or to one or more cluster aircraft devices according to the eighteenth aspect of the present invention, by detachably connecting their docking modules to one another to enable simultaneous movement of a payload along cluster guides formed from guides of the docked aircraft devices and movement of at least a part of the cluster guides relative to one or more housings of the docked aircraft devices.

[0041] Furthermore, the problem at hand is solved in a 24th aspect of the present invention by the fact that the subject payload transfer method comprises the steps of: (i) docking at least one of one or more aircraft devices according to the 17th aspect of the present invention or one or more cluster aircraft devices according to the 18th aspect of the present invention to one or more additional aircraft devices according to the 17th aspect of the present invention or one or more additional cluster aircraft devices according to the 18th aspect of the present invention to one or more additional aircraft devices according to the 17th aspect of the present invention or one or more additional cluster aircraft devices according to the 18th aspect of the present invention by detachably connecting docking modules of the aircraft devices to be docked to each other to form cluster guides from guides of the aircraft devices to be docked to each other; and (ii) simultaneously moving at least a portion of the formed cluster guide relative to one or more housings of the docked aircraft devices to move a payload along the formed cluster guide into at least one of the docked aircraft devices.

[0042] The above-mentioned aspects of the present invention, from the first to the twenty-fourth, respectively provide the technical result of increasing the efficiency of payload redistribution by using a guide. The above-mentioned technical advantages of the group of technical solutions in the claims are not limiting. Further advantages of the group of technical solutions in the claims and individual technical solutions in the group, including specific examples thereof, will be apparent to those skilled in the art from the following detailed description of the present invention and the accompanying drawings.

[0043] Furthermore, the above aspects of the present invention each provide the additional technical result of expanding the range of means for moving payloads.

[0044] The accompanying drawings, which are included to provide a further understanding of the principles of the invention, constitute a part of this specification and are incorporated herein to illustrate the following examples and aspects of the invention. Together with the description, the accompanying drawings serve to explain the principles of the invention. [Brief explanation of the drawings]

[0045] [Figure 1]1 is a first exemplary embodiment of a system for moving a payload according to the present invention; [Figure 2] 4 is a second exemplary embodiment of a system for moving a payload according to the present invention. [Figure 3.1] 1 is one of exemplary embodiments of a self-propelled module according to the present invention. [Figure 3.2] 1 is another exemplary embodiment of a self-propelled module according to the present invention. [Figure 3.3] 10 is another exemplary embodiment of a self-propelled module according to the present invention and a cluster self-propelled module according to the present invention; [Figure 4] 1 is a schematic diagram of one of an illustrative example of a process for docking a payload to an aircraft device and a self-propelled module; [Figure 5] 1 is a schematic diagram of an exemplary implementation of a process for docking a cluster aircraft device to an aircraft device mounted on a payload mounted on a self-propelled module. FIG. [Figure 6] A schematic diagram of an exemplary example of a process for replacing an aircraft device in a cluster aircraft device mounted on a payload mounted on a self-propelled module with another aircraft device, and also a diagram of a process for replacing a self-propelled module mounted on a payload with a cluster self-propelled module. [Figure 7.1] 1 is a schematic diagram of an exemplary implementation of a system including a cluster aircraft device having a cluster guide and multiple payloads configured to move along the cluster guide. [Figure 7.2] 1 is a schematic diagram of an exemplary implementation of a system including a cluster aircraft device having a cluster guide and multiple payloads configured to move along the cluster guide. [Figure 8] FIG. 2 is a flow diagram of a first embodiment of a method for moving a payload. [Figure 9] FIG. 10 is a flow diagram of a second embodiment of a method for moving a payload. [Figure 10] FIG. 10 is a flow diagram of a third embodiment of a method for moving a payload. [Figure 11]FIG. 10 is a flow diagram of a fourth embodiment of a method for moving a payload. [Figure 12] FIG. 10 is a flow diagram of a fifth embodiment of a method for moving a payload. [Figure 13] FIG. 10 is a flow diagram of a sixth embodiment of a method for moving a payload. [Figure 14] FIG. 10 is a flow diagram of a seventh embodiment of a method for moving a payload. DETAILED DESCRIPTION OF THE INVENTION

[0046] Various illustrative embodiments of the present invention will now be described with reference to the accompanying drawings, with the understanding that the following description does not define or limit the scope of the invention.

[0047] In the following description, detailed descriptions of known functions and designs will be omitted because this unimportant information may obscure the concept of the present invention.

[0048] It should be understood that in the following description, terms such as "first," "second," "upper," "lower," "side," "front," "rear," etc. are used for convenience only and should not be construed as limiting terms. In particular, when used in the present invention, unless expressly stated otherwise in the description herein, the terms "first," "second," "third," etc. are used to distinguish related elements, components, parts, assemblies, modules, blocks, embodiments, etc. from one another and are not meant to describe a particular relationship between them. Thus, for example, it should be understood that the use of the terms "first group" of self-propelled modules and "second group" of self-propelled modules is not intended to imply a particular order, type, chronology, hierarchy, or ranking (for example) of / among groups of self-propelled modules in a plurality of self-propelled modules, nor is their use intended to imply (by itself) that there may further be a "third group" of self-propelled modules, a "fourth group" of self-propelled modules, etc. Additionally, as discussed elsewhere herein, references to a "first group" and a "second group" herein do not exclude the two groups from being the same group of elements. Thus, for example, in some instances, the self-propelled modules in the "first group" of self-propelled modules and the "second group" of self-propelled modules will be identical in design, while in other instances they may differ in design.

[0049] Reference to an item in the singular is to be understood to include the plural of such items, and vice versa, unless expressly stated otherwise or clear from the context herein.

[0050] Grammatical conjunctions are intended to express any and all disjunctive and conjunctive combinations of conjunctive clauses, sentences, words, etc., unless specifically stated otherwise or clear from the context. Thus, the term "or" should be understood generally to mean "and / or" and the like.

[0051] The recitation of ranges of values ​​herein is not intended to be limiting, and unless otherwise indicated herein, any and all values ​​falling within the range are instead referred to individually, and each separate value within such range is incorporated into the description as if it were individually recited herein.

[0052] Words such as "about," "approximately," and the like, when used in conjunction with numerical values, should be interpreted to include any deviations that would be understood by one of ordinary skill in the art to operate successfully for the intended purpose. Values ​​and / or numerical ranges are provided herein as examples only and do not constitute limitations on the scope of the described embodiments.

[0053] Any and all examples or at least portions thereof provided in this specification, and corresponding words and phrases (such as "for example," "such," "particularly," etc.) are used only to facilitate understanding of the principles of the present invention and to provide a thorough disclosure of the present invention, but these words and phrases do not impose limitations on the embodiments of the present invention, and do not limit the practical implementation of the elements, components, parts, assemblies, modules, blocks, devices, means and / or the like that they are used in this specification to describe the embodiments and, in particular, to disclose the principles of design and operation of the present invention.

[0054] Terms and definitions used in the description The term "exemplary" means a non-limiting example, instance, or illustration. Similarly, as used herein, the terms "for example" and "for example" delineate a list of one or more non-limiting examples, instances, or illustrations. As used herein, a circuit is "configured" to perform a function whenever it includes the necessary hardware and code (if necessary) to perform the function, regardless of whether performance of the function is prevented or prohibited (e.g., by operator-configurable settings, factory trims, etc.).

[0055] As used herein, the term "correspondence" and its derivatives (i.e., adjective, verb, adverb) do not necessarily imply exact conformity or exact equivalence in any respect, either in relation to or between, but may imply a departure or deviation from said equivalence within specified limits. For example, the term "corresponding coordinates," unless the description herein clearly stipulates otherwise, not only means that these coordinates may be exactly equal to each other or may exactly match each other, but also implies that said equivalence or correspondence of coordinates may be established with some error (e.g., error in the operation of a GPS system) or within the boundaries of a predetermined geographical area surrounding the exact geographical point or area to which these coordinates belong, or the exact geographical location to which these coordinates belong.

[0056] In the context of the present invention, the term "self-propelled module" refers to an independent apparatus or device that is structurally assembled from typical or standard (commercially available) parts, elements, blocks, assemblies, devices and / or the like and is capable of moving under its own power in the air, on land (ground), on water, underwater, and / or on the surface of a stationary or movable object at least partially located in at least one of airspace, ground space, surface space and underwater space, unless the description herein clearly dictates otherwise.

[0057] As used herein, unless expressly stated otherwise, the term "unmanned aerial vehicle" (UAV) refers to an unmanned aerial vehicle configured to fly or operate in an autonomous mode, i.e., capable of moving through the air without a human or external control source, or in a semi-autonomous mode, i.e., capable of moving through the air by receiving at least some of its control commands from a human (e.g., a pilot, operator, etc.) or an external source (e.g., a control panel, control server, external control device, etc.) via a predetermined communications channel. Non-limiting examples of UAVs include various multi-rotor UAVs, e.g., multicopter drones, single-rotor UAVs, e.g., unmanned helicopters, and hybrid UAVs, e.g., rotary-wing drones.

[0058] In the context of the present invention, the term "housing", unless the description herein clearly dictates otherwise, refers to a physical inanimate framework, skeleton, shell, paneling, fuselage, load-bearing structure or body, each of which may be formed from a single load-bearing element or a combination of load-bearing elements connected to one another, and wherein the type, shape, overall dimensions, design features and / or materials of such housing are not specifically limited in any way.

[0059] In the context of the present invention, the term "payload", unless the description herein clearly dictates otherwise, refers to a person or living being (in particular a person or living being on its own, or a person or living being enclosed in a capsule, cabin, containment module, cryogenic module, rescue module, living compartment, habitation block, etc.) or cargo (cargo on its own, or cargo enclosed in a crate, box, package, bag, container, reservoir, vessel, tank, canister, receptacle, barrel, reservoir, cylinder, vessel, reservoir, pack, bottle, flask, glass container, cylinder, case, containment module, etc.) that may serve as a carrier and be contained in the housing of a vehicle intended for the air, ground (land), water and / or underwater delivery, shipment or transport of people, various living beings and / or various cargo.

[0060] As used herein, the term "module" refers to a functional element or combination of functional elements of a device in the form of a component, node, block, or other assembly unit that performs a certain technical function that contributes to the device's functionality, unless the description herein clearly stipulates otherwise. A module may generally be actually implemented using a combination of known structural elements, a combination of known structural elements and known hardware, a combination of known structural elements, known software, and hardware, or a combination of known hardware and known software. Accordingly, for example, a control module may be implemented using hardware and software. As used herein, an integrated control module may be a physical device, apparatus, or multiple modules implemented using hardware, e.g., an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), or a combination of hardware and software, e.g., a microprocessor system and a set of instructions that, when executed, implement the functionality of a control unit, transforming the microprocessor system into an application-specific device or system (e.g., an autopilot). Furthermore, each of the modules described herein, or at least one of them, may be implemented in the form of a combination of hardware and software, where some of the functionality described herein with respect to one of the modules may be implemented solely by hardware, while other functionality described herein with respect to the same or other modules may be implemented by using hardware in combination with software.Furthermore, in the context of the present invention, a docking module may be configured to removably interact with at least one unmanned aerial vehicle, wherein the docking module may be implemented using a combination of known structural elements, a combination of known structural elements and hardware, a combination of structural elements, software and hardware, or a combination of hardware and software.

[0061] As used herein, the term "navigation commands," unless otherwise expressly provided herein, refers to instructions directed to an aircraft device and / or a self-propelled module that is part of a system for moving a payload. Navigation commands may be presented or provided by the self-propelled module's movement control system or the aircraft device's movement control system in the form of digital or analog data, instructions, control signals, etc. Navigation commands may be initially generated by, without limitation, an automated operator, an operator (whether locally or remotely located), and / or an obstacle avoidance system. In the case of an aircraft device, navigation commands may be communicated to a control unit controlling, for example, the aircraft device or the aircraft device's steering system, while in the case of a self-propelled module, navigation commands may be communicated to a control unit controlling, for example, the self-propelled module or the self-propelled module's steering system.

[0062] As used herein, the term "manual control" refers not only to control using a human hand, but also to control using a human foot, finger, voice, pupil, or any suitable combination thereof, unless the description herein expressly dictates otherwise. Accordingly, as used herein, the term "manual control" refers to at least one of the following: a button, a lever, a joystick, a toggle switch, a pedal, a touch screen, a gesture control sensor, a pupil tracking scanner, a microphone, and / or the like.

[0063] As used herein, the term "charging device" refers to a device for replenishing the range of a self-propelled module or aircraft device by recharging its batteries and / or replenishing its fuel capacity, unless the description herein clearly dictates otherwise.

[0064] As used herein, the term "database" refers to any structured data set, independent of the particular structure, database management software, or computer hardware that stores, uses, or otherwise makes available the data, unless the context clearly dictates otherwise. A database may reside on the same hardware that is performing the processes that store or use the information stored in the database, or it may reside on separate hardware, such as a dedicated server or multiple servers.

[0065] In the context of the present invention, the term "docking spot", unless the description herein clearly dictates otherwise, refers to an area on the surface of the housing of a self-propelled module / aircraft device or other structural part of a self-propelled module / aircraft device, on which said self-propelled module / aircraft device may couple, connect or interact with another self-propelled module / aircraft device or any other structure capable of docking to said self-propelled module / aircraft device.

[0066] As used herein, the term "aircraft parking lot" means, unless the description herein clearly dictates otherwise, a stationary or movable structure adapted to accommodate unmanned aerial vehicles, store unmanned aerial vehicles, and / or replenish (e.g., recharge) a range of self-propelled modules or aircraft therein.

[0067] As used herein, the term "control device" refers to a computing device that executes a computer program to enable receiving requests (e.g., from other computing devices) over a communications network, executing or processing such requests, and / or transmitting such requests (e.g., to other computing devices) over a communications network. A computing device that executes a computer program may be, without limitation, a single physical computer or a single physical computer system. As used herein, the use of the term "control device" does not imply that each computer task (e.g., received instructions or commands) or any other specified task is received, executed, or caused to be performed by the same control device (i.e., by the same software and / or hardware); it means that any number of pieces of software or hardware may be involved in receiving / transmitting, executing, or causing any task or request to be performed, or resulting in any task or request, and all such software and hardware may be implemented in the form of one or more control devices.

[0068] As used herein, the term "server" refers to a computing device that executes a computer program to enable receiving requests (e.g., from other computing devices) over a communications network, fulfilling or processing such requests, and / or transmitting such requests (e.g., to other computing devices) over a communications network. A computing device that executes a computer program may be, without limitation, a single physical computer or a single physical computer system. As used herein, the use of the term "server" does not imply that each computer task (e.g., received instructions or commands) or any other specified task is received, executed, or performed by the same server (i.e., the same software and / or hardware); it means that any number of pieces of software or hardware may be involved in receiving / transmitting, executing, or performing any task or request, or resulting in any task or request, and all such software and hardware may be implemented in the form of one or more servers.

[0069] First embodiment of a system for moving payloads FIG. 1 is a first embodiment of a system 500-1 for moving payloads in accordance with the present invention, comprising two aircraft devices 100 configured to be removably connected to each other or removably docked to each other to form a cluster aircraft device.

[0070] It should be noted that system 500-1 may include two or more aircraft devices 100 configured to be removably connected to one another to form a cluster aircraft device, for example, three, four, five, six, seven, eight, nine, ten, eleven, twelve or more aircraft devices each configured similarly to one of the aircraft device 100 embodiments described herein.

[0071] It should also be noted that one or more cluster aircraft devices (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 10, 10 or more cluster aircraft devices) may be formed or defined from the aircraft devices 100 that are part of system 500-1, where the cluster aircraft devices may include each of two or more aircraft devices 100 and may have the same or different quantities of aircraft devices forming the cluster aircraft.

[0072] 1 may be used to move or transport payloads, particularly people, animals or other living beings, vehicles, equipment, medicines, or any other type of cargo, through the air. In particular, each of aircraft devices 100 may be implemented as any suitable unmanned aerial vehicle (UAV) known in the art.

[0073] 1 comprises any suitable type of framework or housing 110 provided with at least two air propulsion units 120, each configured in the form of an air propeller and disposed or mounted on the housing 110 at its exterior, and also comprises a control module (not shown) mounted inside the housing 110 and configured to control the operation of the aircraft device 100, including the operation of the propulsion units 120. The control module in each of the aircraft devices 100 is also configured to issue control commands to at least one of the air propulsion units 120 to operate it or to both air propulsion units 120 to operate them, thus enabling the aircraft device 100 to move or fly in the air, where simultaneous operation of both propulsion units 120 increases the carrying capacity of the aircraft device 100.

[0074] Furthermore, at least one or each of the aircraft devices 100 may be equipped with at least one of the following wireless communication means: SW band radio antenna, USW radio antenna, UHF radio antenna, optical communication module, half-duplex / simplex satellite communication module, 2G / 3G / 4G / LTE / 5G cellular communication module, wireless communication module, wired communication module, etc., so that the aircraft devices 100 can receive navigation commands and / or control commands from the control device of system 500-1, and so that the control device of system 500-1 can control the operation of the aircraft devices 100.

[0075] The control devices of system 500-1 are then configured to receive and process data (including system requests) from the aircraft devices 100, and are configured to generate control instructions / commands and / or generate navigation instructions / commands based on the received data and the processing results thereof, and enable presenting or indicating such generated control and / or navigation commands to at least one of the aircraft devices 100, including in response to requests from the aircraft devices 100. To present the navigation and / or control commands to at least one of the aircraft devices 100 that are part of system 500-1, the control devices of system 500-1 are communicatively coupled to the aircraft devices 100 by a communication network (not shown) that is part of system 500-1.

[0076] The control module in each of the aircraft devices 100 is communicatively coupled to the means of wireless communication of the aircraft devices 100, and thus the control module can process navigation and / or control commands received from the control device of the system 500-1 via the wireless communication means of the aircraft devices, and can control the operation of the aircraft devices 100 in response to the navigation and / or control commands. In particular, in response to navigation and / or control commands from the control device of the system 500-1, the control module of the aircraft devices 100 may enable the performance of, for example, the following operations: (i) changing the flight speed of the aircraft devices 100; (ii) changing the flight direction of the aircraft devices 100; (iii) directing the aircraft devices 100 from a parking area (not shown) or a current region of the airspace to a target region of the airspace where the aircraft devices 100 are intended to dock with at least one other aircraft device, at least one self-propelled module 300 described below, and / or at least one payload 200 described below; (iv) directing the aircraft devices 100 to a target region of the airspace where the aircraft devices 100 are intended to dock with at least one other aircraft device, at least one self-propelled module 300 described below, and / or at least one payload 200 described below; (v) docking aircraft device 100 to at least one other aircraft device, to at least one self-propelled module 300 described below, and / or to at least one payload 200 described below; (vi) directing aircraft device 100 to one of the parking areas (not shown) for storage therein or thereon, enabling storage of aircraft device 100 at the parking area, and / or enabling range replenishment (charging) of aircraft device 100. In some embodiments of the present invention, a control device (not shown) may not be part of system 500-1.

[0077] In some embodiments of the present invention, the communication protocols and / or technical means used for communication between the control devices of the system 500-1 and the aircraft devices 100 may be at least partially different from each other and / or may be at least partially identical to each other. Furthermore, one or more communication protocols and corresponding technical communication means may be used simultaneously for communication.

[0078] In some embodiments of the present invention, the control devices of system 500-1 may be configured to organize safety during flight or movement in the air of aircraft device 100 or a cluster of aircraft devices formed from aircraft device 100.

[0079] 1 is a single server that may be configured in the form of, for example, a Dell™ PowerEdge™ server using an Ubuntu™ Server operating system or a Windows™ Server operating system. Additionally, the control device of system 500-1 may have or obtain access to at least one database (not shown) via the communication network of system 500-1, or may alternatively comprise at least one local database stored in a storage device (not shown) or memory (not shown) of such control device.

[0080] In some embodiments of the present invention, the control device of system 500-1 may be any other suitable hardware, application software, system software, or any combination thereof.

[0081] In other embodiments of the present invention, the functionality of the control device of system 500-1 may be shared among multiple computer or computing devices, for example, implemented using multiple servers communicatively coupled to each other via the communication network of system 500-1.

[0082] In other embodiments of the present invention, the functions of the control devices of system 500-1 may be performed by a control module of another aircraft device, the same as or separate from aircraft device 100, by a group or combination of control modules of another aircraft device, the same as or separate from aircraft device 100, by a control unit of self-propelled module 300 as described below, or by any other suitable computing device configured to generate control and / or navigation commands and present said generated commands to the control module of at least one or each of the aircraft devices 100 that are part of system 500-1.

[0083] The communication network of system 500-1, to which the control devices and aircraft devices 100 of system 500-1 are at least communicatively coupled, substantially enables the control devices and aircraft devices 100 of system 500-1 to exchange system and / or operational data with each other for use in implementing the functions or functional capabilities described herein. Such a communication network may be any suitable wireless communication link known in the art, such as, for example, a WiFi® wireless technology-based communication link, a 2G, 3G, 4G, or 5G wireless technology-based communication link, an LTE technology-based communication link, and / or the like.

[0084] In one embodiment of the present invention, system 500-1 may include two or more wireless networks configured similarly to the above-described communication network of system 500-1 for real-time mode or real-time performance of communications between control devices of system 500-1 and aircraft equipment 100 and / or devices that may be further part of system 500-1 and of any other function described herein.

[0085] 1 may have any suitable shape and overall dimensions characteristic of any aircraft device known in the art, and may be made of any suitable material known in the art and typically used in the manufacture of housings for aircraft devices, including, in particular, composite materials (e.g., composite sandwich panels), metals (e.g., interconnected metal channel beams), aluminum (e.g., interconnected aluminum conveying beams), plastics (e.g., solid plastic pieces), titanium materials (e.g., titanium sandwich panels), any other suitable material known in the art, including using any suitable combination of the above materials (e.g., sandwich panels or titanium panels with an aluminum honeycomb core), and / or the like. Accordingly, the type, shape, overall dimensions, and material of the housing 110 in each of the aircraft devices that are part of system 500-1 are not specifically limited within the scope of the present invention. In particular, the housing 110 in at least one or each of the aircraft devices 100 that are part of system 500-1 may have a shape that is generally the same as the housing of a helicopter or drone, although those skilled in the art will understand that the housing 110 may have any other shape that resembles any other aircraft or air transport vehicle, such as an airplane, shuttle, hang glider, paraglider, or any other similar aircraft device known in the art.

[0086] In one embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured in the form of a regular or irregular three-dimensional geometric figure, such as a cube, a rectangular prism, a ball or sphere, a square pyramid, a tetrahedron (triangular pyramid), a hexagonal pyramid, a triangular prism, a hexahedron (octahedron), a pentagonal prism, a hexagonal prism, a dodecahedron, an ellipsoid, a 20-sided polyhedron (icosahedron), a cone, a cylinder, or any other known three-dimensional figure.

[0087] In another embodiment of the present invention, at least a portion of the housing 110 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may have a cross-sectional (longitudinal or transverse) shape of a triangle, square, circle, oval, rectangle, parallelogram, rhombus, trapezoid, quadrilateral, pentagon, hexagon, heptagon, octagon, nonagon, decagon, icosagon, or any other known regular or irregular geometric figure.

[0088] In yet another embodiment of the present invention, the housing 110 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be a skeleton, framework, or bearing frame onto which paneling is attached or at least partially surrounded by a shell.

[0089] In other embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further be provided with fins, wings, and / or tail rotors, etc., to improve the aerodynamic characteristics of the aircraft device 100 and to improve its carrying capacity by generating additional lift during flight.

[0090] In some other embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further be provided with at least one aircraft engine (not shown), preferably two aircraft engines, to enable the aircraft device 100 to move through the air in an emergency (e.g., in the event of a failure or malfunction of the air propulsion unit 120) or to increase the speed of movement of the aircraft device 100 through the air by enabling operation of the aircraft engine in addition to or instead of the propulsion unit 120 used to move the aircraft device 100 through the air under normal circumstances. It should be noted that each such aircraft engine may be, for example, a propeller engine, a jet engine, a combined aircraft engine, or any other suitable aircraft engine known in the art. It should also be noted that if two aircraft engines are used in the aircraft device 100, their designs and / or types may match or differ from each other. Each such aircraft engine, which is further provided with a housing 110, may operate under the control of a control module of the aircraft device 100, which may present control commands to a control driver of the aircraft engine of the aircraft device 100 to enable starting, stopping or changing the operating mode of said aircraft engine (e.g., changing the operating parameters of the aircraft engine of the aircraft device 100).

[0091] In some other embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further be provided with at least one additional lift rotor (not shown) or rotor propulsion unit of any suitable type known in the art to enable the aircraft device 100 to move through the air (including in an emergency, e.g., in the event of damage, failure, and / or complete discharge of the aircraft device 100) or to increase the speed of movement of the aircraft device 100 through the air by enabling operation of a lift rotor or rotor propulsion unit in addition to or instead of the propulsion unit 120 used to move the aircraft device 100 through the air under normal circumstances. Furthermore, in this embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further include a power plant (not shown), defined by, for example, one or two turboshaft engines, operably coupled to each of the lift rotors of the aircraft device 100 to enable the supply of power to operate the rotors. Each such power plant of the aircraft device 100 is operably coupled to a lift rotor of the aircraft device 100, which is further provided in the housing 110 to transmit driving force to the housing 110, and may operate under the control of a control module of the aircraft device 100, which may present control commands to a control driver of the power plant (not shown) of the aircraft device 100 to enable starting, stopping or changing the operating mode of the power plant (e.g., changing the operating parameters of the power plant of the aircraft device 100) to change the state of the lift rotor of the aircraft device 100.

[0092] In another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further be provided with landing gear (not shown), which may be an extendable support system or at least one rigidly fixed support that may be provided on the support housing 110 and which is necessary for at least the takeoff of the aircraft device 100, the landing of the aircraft device 100, and / or the storage of the aircraft device on one of the parking areas, to supplement its range. In particular, the landing gear of the aircraft device 100 may be of the skid type, wheel type, tracked type, float type, or any other type known in the art. The type, shape, overall dimensions, and material of the landing gear of the aircraft device 100 are not specifically limited within the scope of the present invention. It should be noted that in this embodiment of the invention, the landing gear of aircraft device 100 may be provided for at least (i) bearing static loads from its own weight while aircraft device 100 is parked, and (ii) absorbing dynamic loads that arise during landing of aircraft device 100 (including emergency landings) onto the ground, water, or the surface of another object that is at least partially present in airspace, ground space, water space, and / or underwater space, depending on the particular embodiment of the invention.

[0093] In some other embodiments of the invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in Figure 1 may not be provided with any type of landing gear. In one variation of such an embodiment of the invention, the bottom of the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in Figure 1 may be provided with a shock-absorbing pad (not shown) made of an elastic material (e.g., rubber) that may be attached to said bottom from its outside, or any other suitable support known in the art and used in the prior art for known aircraft devices (in particular, drones or other unmanned aerial vehicles).

[0094] 1 , the housing 110 of each of the aircraft devices 100 that are part of the system 500-1 is provided with two docking modules 130, each configured to enable detachable connection of the housing 110 to a housing of another aircraft device corresponding to or different from the aircraft device 100 during docking of the aircraft devices with each other, where the docking modules 130 are mounted on both ends from the outside of the housing 110. In some embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be provided with one or more docking modules 130, particularly one, two, three, four, five, six, seven, eight, nine, ten, or more docking modules 130. In other embodiments of the present invention, at least one of the docking modules 130 provided in the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be mounted inside the housing 110. In another embodiment of the present invention, at least one first docking module of the docking modules 130 provided in the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be mounted inside the housing 110, and at least one second docking module of the docking modules 130 may be mounted inside the housing.

[0095] The docking module 130 provided in the housing 110 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may removably connect one or more additional housings 110 associated with other aircraft devices of the system 500-1 to the housing 110, where the additional housings 110 may be removably connected to the housing 110 from the same side or from different sides, and it should be noted that one or more pairs of docking modules 130 (i.e., one docking module 130 from the side of the additional housing 110 to be connected and one docking module 130 from the side of the housing 110 to which the additional housing 110 is removably connected) may be used to provide for the removable connection of each such additional housing 110.

[0096] Furthermore, at least one or each of the docking modules 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 may be configured to allow detachable connection of the housing 110 to the housing 310 of the self-propelled module 300 described below and / or the housing 210 of the supporting load 200 described below. Thus, at least one of the docking modules 130 provided in the housing 110 in each of the aircraft devices 100 that are part of the system 500-1 may enter into detachable interaction with at least one of the same docking modules that may be provided in the housing of another aircraft device, providing for detachable connection of those housings to one another, and thus providing for detachable docking of the two aircraft devices to one another to form a cluster aircraft device.

[0097] In one embodiment of the present invention, the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to interact with at least one of fastening or connecting elements (e.g., cams, hooks, staples, eyes, clamps, latches, electromechanical grips, magnetic grips, etc.) that may be provided on the housings of other aircraft devices corresponding to or separate from the aircraft device 100 to provide for detachable connection of the housings of the aircraft devices to one another for detachable docking of the two aircraft devices to one another to result in a cluster aircraft device.

[0098] Non-limiting examples of docking modules 130 for providing for detachable fastening or connection of the housings 110 of the aircraft devices to each other include the following fastening or connection elements that must be provided on the docking modules 130 that interact with each other at corresponding docking spots on the housings 110 of the aircraft devices: various suitable mechanical connections or fastening means (brackets, grips, fasteners, mounting slots, cams, hooks, latches, etc.), electromechanical means under the control of the control module of the aircraft device 100 (e.g., electromechanical docking means for docking with a mating element to be docked, electromechanical gripping means for gripping a mating element to be gripped, etc.), electromagnetic means under the control of the control module of the aircraft device 100, magnetic means, vacuum grips and / or the like under the control of the control module of the aircraft device 100. It should be noted that if the docking module 130 of one of the aircraft devices 100 to be docked with each other is provided with any fastening or connection element from the above-mentioned mechanical connection or fastening means, electromechanical means, electromagnetic means, magnetic means and vacuum grips, then the docking module 130 of the other of the aircraft devices 100 to be docked with each other must be provided with a suitable type of mating fastening or connection means that allows the formation of a detachable connection between the docking modules 130.

[0099] In one embodiment of the present invention, the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to removably interact with the docking module 130 of one or more other aircraft devices 100, and may be (i) fixed to the housing 110 of the aircraft device from outside thereof, or (ii) a rigid fastening or connection structure that may be partially embedded or incorporated into the body of the housing 110 of the aircraft device to provide for access thereto from outside the housing 110.

[0100] In another embodiment of the present invention, the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be a movable fastening or connecting structure that may be under the control of a control module of the aircraft device 100 and configured to detachably interact with the docking modules 130 of one or more other aircraft devices 100, where the movable structure may be fixed on the housing 110 of the aircraft device from outside thereof and may be configured to be at least partially unfolded, spread or extended under the control of the control module of the aircraft device 100, and may be able to return to an initial state under the control of the control module of the aircraft device 100. Alternatively, the movable fastening or connecting structure in which the docking module 130 may be implemented may be fully mounted or fixed to the housing 110 of the aircraft device (i.e., in the interior space of the housing 110 of the aircraft device) and may be configured to extend at least partially from said housing 110 and / or to deploy beyond the limits of said housing 110 under the control of a control module of the aircraft device 100, allowing it to return to its initial state under the control of the control module of the aircraft device 100. As yet another alternative, the movable fastening or connecting structure in which the docking module 130 may be implemented may be partially embedded or incorporated into the body of the housing 110 of the aircraft device and may be configured to deploy, unfold, expand, or extend at least partially under the control of a control module of the aircraft device 100, allowing it to return to its initial state under the control of the control module of the aircraft device 100.In yet another embodiment of the present invention, the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be a non-moving fastening or connecting structure that may be fixed on the housing 110 of the aircraft device from outside thereof, fixed inside the housing 110, or partially embedded / integrated into the body of the housing 110, where access to the free docking module 130 for detachable interaction of the docking modules 130 of other aircraft devices 100 to provide for detachable connection of the housings 110 of such aircraft devices 100 to each other is provided to the aircraft. The free docking modules 130 are provided in the housing 110 of the device, which may be under the control of a control module of the device 100, for example, by opening a barrier or covering structure that prevents access to at least one of the free docking modules 130 from outside the housing 110 and may be, for example, (i) a hatch, door or flap provided in the main body of the housing 110, or (ii) a hatch, door or flap provided in a separate protective housing that surrounds or encloses the at least one free docking module 130, or (iii) a combination of the above (i.e., a combination of (i) and (ii)).In another embodiment of the present invention, the possibility of operating the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 to enable its unfolding, extending, spreading or extension may be provided under the control of a control module of the aircraft device 100, for example, by opening a barrier structure or covering structure that prevents the docking module 130 from leaving the housing 110 and may be, for example, (i) a hatch, door or flap provided in the main body of the housing 110, or (ii) a hatch, door or flap provided in a separate protective housing that surrounds or encloses the docking module 130, or (iii) an element or plate fixed to the housing 110 and prevents the docking module 130 from being unfolded, extending, spreading or extension, or (iv) a combination of the above (i.e., a combination of (i), (ii) and (iii)). In some other embodiments of the present invention, the docking module 130 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be a fixed fastening or connection structure that is firmly fixed on the housing 110 of the aircraft device from outside thereof or partially embedded / integrated into the body of the housing 110 and that prevents access to said fixed structure from outside the housing 110 for interaction with the docking modules 130 of one or more other aircraft devices 100, and that may be closed by a barrier or covering structure (e.g., an external cover, casing, or protective housing) under the control of a control module of the aircraft device 100 on which said fixed fastening or connection structure is provided, where access to such docking module 130 may be achieved, for example, by opening, releasing, swinging open, shifting, sliding, or removing said barrier or covering structure under the control of said control module of the aircraft device 100, and may subsequently be allowed to return to its original position (when such need arises) under the control of the control module of the aircraft device 100.

[0101] Thus, the presence of the docking module 130 allows the aircraft devices 100 to be removably connected (i.e., connected with the possibility of being detached) to the housing 110 of at least one of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 in a quantity required to provide sufficient lift to move the payload in the air.

[0102] In one embodiment of the present invention, at least one of the docking modules 130 provided in the housing 110 of one of the aircraft devices 100 that are part of the system 500-1 may removably interact with one or more docking modules 130 provided in the housing 110 of the other aircraft devices of the aircraft devices 100, in particular one docking module 130, two docking modules 130, three docking modules 130, four docking modules 130, five docking modules 130, or more docking modules 130 of the other aircraft devices 100. Thus, in this embodiment of the present invention, it is possible that in order to removably dock two aircraft devices 100 with each other, only one docking module 130 provided in the housing 110 of a first aircraft device 100 needs to removably interact with only one docking module 130 provided in the housing 110 of a second aircraft device 100. Furthermore, in this embodiment of the present invention, it is also possible that in order to removably dock two aircraft devices 100 with one another, only one docking module 130 provided in the housing 110 of a first aircraft device 100 needs to removably interact with two, three, four, five, or more docking modules 130 provided in the housing 110 of a second aircraft device 100. Furthermore, in this embodiment of the present invention, it is also possible that in order to removably dock two aircraft devices 100 with one another, two docking modules 130 provided in the housing 110 of a first aircraft device 100 need to removably interact with two, three, four, five, or more docking modules 130 provided in the housing 110 of a second aircraft device 100.

[0103] In another embodiment of the present invention, the docking module 130 that may be provided in the housing 110 in any one of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be provided at least partially on the same exterior of the housing 110 or on a separate exterior of the housing 110.

[0104] In yet another embodiment of the present invention, one aircraft device 100, at least two aircraft devices 100, one cluster aircraft device, at least two cluster aircraft devices, or any possible combination thereof may be docked to at least one or each of the docking modules 130 that may be provided in the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1.

[0105] In some embodiments of the present invention, the cluster aircraft device formed as a result of the detachable connection of docking modules 130 of two or more aircraft devices 100 to be docked to each other is a cluster or assemblable structure having any shape and geometric dimensions suitable for the free movement of such a structure in the air so as to enable the free movement in the air of payloads that may be located or mounted on at least a portion of the housing 110 associated with the cluster aircraft device 100, which is part of the cluster aircraft device and is suitable for enabling the docking of at least one additional (other) cluster aircraft device and / or at least one additional aircraft device 100 to the cluster aircraft device by detachably interacting with its docking module 130.

[0106] 1 and formed as a result of the detachable connection of the housings 110 of the two aircraft devices 100, may respond as a unified whole to control commands and / or instructions received from a control device of the system 500-1, i.e., the operation of the aircraft devices 100 as part of such a cluster aircraft device may be synchronized (e.g., using the control device of the system 500-1 or a control module of one of the aircraft devices 100 forming such a cluster aircraft device). Furthermore, the aircraft devices 100 forming such a cluster aircraft device may be electrically connected to each other to form a single power circuit and cluster power supply that powers or operates all of the aircraft devices 100 substantially simultaneously (e.g., the cluster power supply may be formed from batteries of the aircraft devices 100 docked together), thereby making it possible to consider the range of the cluster aircraft device as a whole rather than considering the range of each such aircraft device 100 individually. It should also be noted that the process of docking aircraft devices 100 to each other may occur directly in the air, where the docking process may be initiated or initiated in response to control commands presented by a control device of system 500-1 to the aircraft devices 100 that are docked to each other to form a cluster aircraft device.

[0107] The number of aircraft devices 100 docked together to form a cluster aircraft device may be from two or more units, where in some embodiments of the present invention, the number of aircraft devices 100 docked together may be multiple units, tens of units, or hundreds of units. To provide for a required payload, multiple aircraft devices 100 with the same or different payloads may be used, but the total payload provided by the aircraft devices 100 must correspond to the required payload, where the aircraft devices 100 docked together may match or differ in design, for example, in terms of overall dimensions and / or power and / or flight characteristics and / or type of propulsion unit.

[0108] 1 is further provided with one linear guide 140 configured to mount or hang a payload thereon, including a payload 200 described below, and to linearly move the mounted or hung payload along the guide 140. The shape, length (spatial extent) or other geometric dimensions, as well as the cross-sectional shape and manufacturing material of the guide 140 in any one of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 are not particularly limited, and it should be noted that the shapes and / or geometric dimensions (e.g., the length or spatial extent of the guide 140) of the guides 140 associated with the separate aircraft devices 100 that are part of the system 500-1 may match or differ from one another.

[0109] According to one embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 may be provided with one or more guides 140 (e.g., two, three, four, five, six, seven, eight, nine, ten, or more guides 140), each of which may be configured to mount or suspend a payload thereon, including payload 200, described below, and to move the mounted or suspended payload along the guides 140. In one variation of this embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 may be provided with two or more guides 140, where at least some or all of the guides 140 may be arranged parallel to one another, perpendicular to one another, and / or at a predetermined angle to one another. In yet another variation of this embodiment of the invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of system 500-1 may be provided with two or more guides 140, at least some or all of which may be connected to one another to define a path for payload movement relative to the aircraft device housing 110. In another variation of this embodiment of the invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of system 500-1 may be provided with two or more guides 140, where at least one of the guides 140 may be used to mount or suspend a first payload thereon to enable movement of the first payload along the at least one guide 140, and at least one other of the guides 140 may be used to mount or suspend a second payload thereon to enable movement of the second payload along the at least one other guide 140.

[0110] According to yet another embodiment of the present invention, all of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 may be mounted or fixed from the outside of the housing 110. According to another embodiment of the present invention, all of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 may be mounted or fixed inside the housing 110 or in an interior space of the housing 110. According to another embodiment of the present invention, some of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 may be partially mounted or fixed from the outside of the housing 110, and other parts of the guides 140 may be partially mounted or fixed inside the housing 110 or in an interior space of the housing 110.

[0111] According to some embodiments of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to be at least partially bendable or flexible, thus allowing for at least partial compensation of loads exerted on the guide 140 by a payload that is mounted or suspended on the guide 140 and moved along the guide 140 so as to be positioned at an appropriate spot relative to the housing 110 of the aircraft device.

[0112] According to some other embodiments of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured linearly or curvedly, and thus may define not only a linear path (linear trajectory) of movement of a payload along the at least one guide 140 relative to the housing 110 of the aircraft device, but also a curved path (curved trajectory) of movement of a payload along the guide 140 relative to the housing 110 of the aircraft device, and may define a combined path (combined trajectory) of movement of a payload along the guide 140 relative to the housing 110 of the aircraft device, the combined path having at least one linear section of the path and at least one curved section of the path.

[0113] According to some other embodiments of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured in a T-shape, a Z-shape, an X-shape, a Y-shape, an inverted U-shape, an E-shape, a U-shape, an N-shape, an L-shape, an F-shape, an O-shape, an H-shape, a V-shape, an inverted L-shape, a C-shape, or a W-shape. It should be noted that in this embodiment of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may have any other shape corresponding to any known symbol, any known letter, any known geometric shape, any known number, or the like.

[0114] According to some other embodiments of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to enable movement of a payload along at least one of three coordinate axes (in particular, along any one of the three coordinate axes, along any two of the three coordinate axes, or along all three coordinate axes), or may be configured to move relative to the housing 110 of the aircraft device to enable movement of a payload mounted or suspended on the guide 140 relative to the housing 110 of the aircraft device.

[0115] According to another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be provided with two or more parallel guides 140 configured to mount or suspend a payload thereon, including the payload 200 described below, and to move the mounted or suspended payload substantially linearly therealong.

[0116] The guides 140 in the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 are configured to be detachably connected to each other to enable the formation of a linear cluster guide 145. As shown in FIG. 1, the cluster guide in the cluster aircraft device includes two detachably connected guides 140, each mounted or fixed to the outside of the housing 110 of a corresponding one of the two aircraft devices 100. In this manner, the cluster guide 145 may be formed as a result of docking two or more aircraft devices 110 to form the cluster aircraft device. In other words, the cluster guide 145 is essentially a guide for the cluster aircraft device, enabling payloads, including payload 200 described below, to move between the housings 110 of the aircraft devices 100 that form the cluster aircraft device, and in particular, to an open spot in at least one of the housings 110.

[0117] In one embodiment of the present invention, the cluster guide 145 may be formed from two or more separate guides 140, each associated with one of the aircraft devices 100 removably docked to each other, in particular from two, three, four, five, six, seven, eight, nine, ten or more such separate guides 140, where the shape, length (spatial extent) or other geometric dimensions, manufacturing material and / or the like of the cluster guide 145 are not particularly limited. It should be noted that the cluster guide 145 formed as a result of the removably connecting of the separate guides 140 may have a straight or curved shape.

[0118] According to another embodiment of the present invention, at least one or each of the guides 140 that may be provided in the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may comprise two or more parts, at least one of which is configured to be movable, and wherein the housing 110 of the aircraft device may further comprise a drive device that is under the control of a control module of the aircraft device 100 and is operably coupled to the at least one movable part of the guide 140 to enable movement of the at least one movable part of the guide 140 relative to the remaining parts of the guide 140 in order to change the shape of the guide 140.

[0119] It should be noted that the control device of system 500-1 or the control module of one of the docked aircraft devices 100 used to form the cluster aircraft device may further enable undock of at least one of the docked aircraft devices 100 to enable formation of a cluster guide from the guides of the remaining docked aircraft devices (particularly, to change the overall spatial extent of the guide toward a reduction and / or to change the shape of the cluster guide), and / or enable docking of yet another additional aircraft device 100 to one of the docked aircraft devices 100 to enable formation of a cluster guide from the guides of the docked aircraft devices 100 (particularly, to change the overall spatial extent of the guide toward an expansion and / or to change the shape of the cluster guide). Furthermore, the docking of yet another additional aircraft device 100 to one of the docked aircraft devices 100 to enable formation of a cluster guide from the guides of the docked aircraft devices 100 may be controlled by the control module of the docked additional aircraft device 100.

[0120] In one embodiment of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be mounted on a rotation device (not shown) mounted on the housing 110 of the aircraft device so as to enable rotation of the guide 140 at a predetermined rotation angle, thus enabling the path or trajectory of movement of a payload along that guide 140 to be changed and / or enabling the guide 140 mounted on the rotation device to be connected to at least one other guide that is part of the guide 140 provided on the housing 110.

[0121] In another embodiment of the present invention, at least one or each of the guides 140 that may be provided in the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be rotatably mounted on the housing 110 of the aircraft device, wherein the housing 110 of the aircraft device may further comprise a drive device (not shown) that is under the control of a control module of the aircraft device 100 and is operably coupled to the guide 140 or configured to interact with the guide 140 to enable its rotation by a predetermined rotation angle, thus also enabling the path or trajectory of movement of a payload along the guide 140 to be changed and / or enabling the rotation guide 140 to be connected to at least one other guide that is part of the guide 140 provided on the housing 110.

[0122] In yet another embodiment of the present invention, at least one or each of the guides 140 that may be provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to be telescopic, and wherein the housing 110 of the aircraft device may further comprise a drive device (not shown) under the control of a control module of the aircraft device 100 and operably coupled to or configured to interact with the guide 140 to enable at least partial guide extension. It is noted that in this embodiment of the present invention, the control module of the aircraft device 100 may further be configured to enable at least partial or full retraction of a previously fully or partially extended guide 140 under the control of the control module of the aircraft device 100 to prepare for returning the guide 140 to a partial or full retracted state. It is also noted that in this embodiment of the present invention, to extend or retract the guide 140, the control module of the aircraft device 100 may be further configured to issue control commands to a drive device (not shown) operably coupled to said guide 140 in order to operate the same in a mode of operation that allows at least partial extension of an at least partially or fully extended guide 140, or at least partial or full retraction of an at least partially or fully extended guide 140, respectively.

[0123] In another embodiment of the present invention, the housing 110 in at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be configured to tilt or rotate at a predetermined angle relative to at least one of the guides 140 on which the housing 110 of the aircraft device may be mounted.

[0124] In some other embodiments of the invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in Figure 1 may be configured to change its shape and / or its dimensions. In one variation of this embodiment of the invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in Figure 1 may be a foldable mesh (not shown) configured to surround the aircraft device 100 while deployed, and wherein the aircraft device 100 may further comprise an actuation device (not shown) under the control of a control module of the aircraft device 100, which may in turn receive control commands from the control device of the system 500-1, and operably coupled to the mesh of the aircraft device 100 to enable unfolding or deploying the mesh in response to the control commands of the control device of the system 500-1. In this variation of the embodiment of the present invention, the mesh of the aircraft device 100 may exist in two states: a folded or stowed state, which corresponds to an initial state of the mesh of the aircraft device 100 and in which the mesh of the aircraft device 100 exists while the aircraft device 100 is moving through the air, and an unfolded state, in which the mesh of the aircraft device 100 exists while the aircraft device 100 is docked with at least one other aircraft device to form a cluster aircraft device, where it is noted that the mesh of the aircraft device 100 in the folded state has its minimum size and the mesh of the aircraft device 100 in the unfolded state has its maximum size. In another variation of this embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of system 500-1 shown in FIG. 1 may be formed from separate functional parts (not shown) and may further comprise an actuation device (not shown) operably coupled to the functional parts to enable the expansion or deployment of the functional parts in order to change the shape and / or size of said housing 110 of the aircraft device.In yet another variation of this embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be formed from separate controllable functional portions (not shown), and the control module of the aircraft device 100 may be further communicatively coupled to said controllable functional portions to enable displacement (change of spatial location) of said functional portions relative to one another in response to control commands of said control module, which commands may be generated by the control module of the aircraft device 100 in response to corresponding control commands of the control device of the system 500-1, to change the shape and / or dimensions of said housing 110 of the aircraft device. In another variation of this embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be formed from separate controllable functional portions (not shown), and a control module of the aircraft device 100 may be communicatively coupled to the controllable functional portions to enable expansion or deployment of those functional portions in response to control commands of the control module, commands that may be generated by the control module of the aircraft device 100 in response to corresponding control commands of a control device of the system 500-1, to change the shape and / or dimensions of the housing 110 of the aircraft device.

[0125] In some other embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may further be provided with one or more controllable work members (not shown) configured to interact with a payload during operation to enable loading or hanging of the payload on at least one of the guides 140 of the housing 110 and to enable movement of the payload along the at least one guide 140 during operation of the work members, and may further include a drive device (not shown) under control of a control module of the aircraft device 100 and operably coupled to the controllable work members to enable operation of at least one of the work members in response to control commands of the control module of the aircraft device 100.

[0126] In another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be provided with two separate guides and a movable connection guide, each of which is configured to mount or hang a payload thereon and to move the mounted or hung payload therealong, and may further comprise a drive device (not shown) under the control of a control module of said aircraft device 100 and operably coupled to said movable connection guide to enable movement of the guides to connect said guides to one another.

[0127] 1 may further comprise a payload transfer module (not shown) under the control of the control module of the aircraft device 100 and configured to interact with a payload mounted on or suspended from at least one of the guides 140 provided on the housing 110 of the aircraft device to enable movement of the payload along the at least one guide 140. In one variation of this embodiment of the invention, the payload transfer module (not shown) may be a robotic manipulator or gripper configured to grasp and move a payload along at least one of the guides 140 provided on the housing 110 of the aircraft device. In another variation of this embodiment of the present invention, the payload transfer module (not shown) may be a pusher and may be configured to momentarily apply a force to a payload during actuation of the pusher to move the payload along at least one of guides provided in the housing 110 of the aircraft device, wherein the housing 110 of the aircraft device may further comprise a drive device (not shown) under control of a control module of the aircraft device 100 and operably coupled to the pusher to actuate it. In yet another variation of this embodiment of the present invention, the payload transfer module (not shown) may be movably mounted on at least one additional guide (not shown) separate from the guides 140 to move the payload along the at least one guide 140. In another variation of this embodiment of the present invention, the payload transfer module (not shown) may further be configured to remove the payload from the at least one guide 140 provided in the housing 110 of the aircraft device.

[0128] In some other embodiments of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be further provided with one or more weight sensors (not shown), each configured to measure the weight of a payload at one of the spots on the housing 110 of the aircraft device for payload accommodating, and to provide a reading thereof to a control module of the aircraft device 100, wherein the control module of the aircraft device 100 may be capable of providing control commands to a payload movement module that may be further provided on the housing 110 of the aircraft device to move the payload along at least one guide 140 in accordance with the reading of the weight sensor.

[0129] In some other embodiments of the present invention, at least one of the guides 140 provided on the housing 110 of at least one of the or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be further configured to remove a payload mounted on the at least one guide 140, thus allowing the payload to be removed from the at least one guide 140 when such a need arises, for example, if there is damage to at least a portion of the at least one guide 140 or if the payload needs to be remounted or re-suspended on another guide 140. In one variation of this embodiment of the invention, at least one of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may have one or more payload removal spots, thus allowing the payload to be removed from the at least one guide 140 when such a need arises, for example, if there is damage to at least a portion of the at least one guide 140 or if the payload needs to be reloaded or re-suspended on another guide 140.

[0130] In various embodiments of the present invention, at least one of the docking modules 130 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-1 shown in FIG. 1 may be movably mounted on at least one of the guides 140 on which said housings 110 of the aircraft devices are provided, and thus the docking module 130 can be used not only to enable mutual docking of the housings 110 of the aircraft devices, but also for movable attachment of payloads on said guides 140, and thus, in turn, extend various payloads that may be mounted on or suspended on said guides 140 so as to move along relative to the housings 110 of the aircraft devices.

[0131] In various other embodiments of the invention, at least one of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of system 500-1 shown in FIG. 1 may further be provided with a gripping mechanism (not shown) configured to grip a payload to allow the payload to be mounted or suspended on the at least one guide, and configured to move along the at least one guide to allow the gripped payload to move along the at least one guide. In one variation of this embodiment of the invention, the gripping mechanism (not shown) may be configured to be rotatable to allow rotation of the gripped payload relative to the at least one guide.

[0132] In various other embodiments of the invention, at least one of the guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of system 500-1 shown in FIG. 1 may be configured to be movable, and the housing 110 of the aircraft device may further include a guide movement module (not shown) under the control of the control module of the aircraft device 100 and configured to operatively interact with the movable guide 140 to enable the guide to move with a payload mounted or suspended on the movable guide. In one variation of this embodiment of the invention, the movable guide 140 may further be configured to have a payload mounted or suspended thereon to enable movement of the payload along the movable guide 140 during movement of the guide 140.

[0133] According to one embodiment of the present invention, the housing 110 of at least one of the or each of the aircraft devices 100 docked to each other to form the cluster aircraft device shown in FIG. 1 may further be provided with a payload transfer module (not shown) under the control of a control module of the aircraft device 100 and configured to interact with a payload mounted on or suspended from at least one of the guides 140 provided on the housing 110 of the aircraft device to enable movement of the payload along the at least one guide 140, wherein the control module may further be configured to present control commands to the payload transfer module to enable movement of the payload from the aircraft device 100 to be undocked to at least one of the remaining aircraft devices 100 docked to each other. Thus, in this embodiment of the present invention, a payload transfer module (not shown) under the control of a control module (not shown) associated with one of the aircraft devices 100 docked together to form the cluster aircraft device substantially enables at least partial reloading or unloading of a payload from the housing 110 of an aircraft device being undocked from the cluster aircraft device to at least one of the housings 110 of the other aircraft devices that are part of the cluster aircraft device while the cluster aircraft device is in airspace (i.e., in the air). It should be noted that in this embodiment of the present invention, the payload transfer module that may be further provided on the housing 110 of the aircraft device may be, for example, a robotic arm, a robotic manipulator, a robotic grip, a controllable electromechanical grip, a controllable electromagnetic grip, or another controllable technical means configured to grip a payload to enable movement of the payload along at least one guide 140 or to continuously or periodically apply a force to a payload to enable movement of the payload along at least one guide 140.It should be noted that in this embodiment of the present invention, a payload transfer module that may be further provided on the housing 110 of the aircraft device may be further configured to move under the control of the control module of the aircraft device 100 relative to said housing 110 to enable movement of the payload along at least one guide 140. In particular, in this embodiment of the present invention, the payload transfer module of the aircraft device 100 may be mounted from the outside or inside of the housing 110 associated with said aircraft device 100 to move along a separate guide that may be further provided on said housing 110 of said aircraft device, may be mounted to move along said at least one guide 140 (i.e., on the same guide 140 on which the payload to be moved is mounted or suspended), may be mounted on a wheel base to move relative to said housing 110 of the aircraft device, and may be configured in the form of a telescopic grip for gripping a payload, the telescopic grip being configured to fold or unfold while pulling or pushing, respectively, said payload to enable movement of said payload along at least one guide 140, etc. It should also be noted that in this embodiment of the present invention, the mobility of the payload movement module of the aircraft device 100 may be provided by a drive module or drive unit which may further be provided in the housing 110 of the aircraft device and which may be operably coupled to the payload movement module to enable the transmission of motion to the payload movement module while the operation of the drive unit is under the control of a control module associated with one of the aircraft devices 100 docked to each other to form the cluster aircraft device.

[0134] According to another embodiment of the present invention, the housing 110 of at least one of the or each of the aircraft devices 100 docked to each other to form the cluster aircraft device shown in FIG. 1 may further be provided with a payload transfer module (not shown) under the control of a control module of the aircraft device 100 and configured to interact with a payload mounted or suspended on at least one of the guides 140 provided on the housing 100 of the aircraft device to enable movement of the payload along the at least one guide 140, wherein the control module may further be configured to present control commands to the payload transfer module to enable reception of the payload from at least one of the remaining docked aircraft devices 100 and to enable movement of the received payload into the aircraft to be undocked. Thus, in this embodiment of the present invention, a payload transfer module (not shown) under the control of a control module (not shown) associated with one of the aircraft devices 100 docked together to form the cluster aircraft device effectively enables at least partial reloading of a payload from the cluster aircraft device to the housing 110 of any other aircraft device 100 that is part of the cluster aircraft device, or from the housing 110 of any other aircraft device that is part of the cluster aircraft device, while the cluster aircraft device is in airspace (i.e., in the air). It should be noted that in this embodiment of the present invention, the payload transfer module that may be further provided on the housing 110 of the aircraft device may be, for example, a robotic arm, a robotic manipulator, a robotic grip, a controllable electromechanical grip, a controllable electromagnetic grip, or another controllable technical means configured to grip a payload to enable its movement along at least one guide 140, or to continuously or periodically apply a force to a payload to enable its movement along at least one guide 140.It is noted that in this embodiment of the present invention, a payload transfer module that may be further provided on the housing 110 of the aircraft device may further be configured to move under the control of the control module of the aircraft device 100 relative to said housing 110 to enable movement of the payload along at least one guide 140. In particular, in this embodiment of the present invention, the payload transfer module of the aircraft device 100 may be mounted from the outside or inside of the housing 110 associated with said aircraft device 100 to move along a separate guide that may further be provided on said housing 110 of said aircraft device, may be mounted to move along said at least one guide 140 (i.e., on the same guide 140 on which the payload to be moved is mounted or suspended), may be mounted on a wheel base to move relative to said housing 110 of the aircraft device, and may be configured in the form of a telescopic grip for gripping a payload configured to fold or unfold while pulling or pushing, respectively, said payload to enable movement of said payload along at least one guide 140, etc. It should also be noted that in this embodiment of the present invention, the mobility of the payload movement module of the aircraft device 100 may be provided by a drive module or drive unit (not shown) which may be further provided in the housing 110 of the aircraft device and which may be operably coupled to the payload movement module to enable the transmission of movement to the payload movement module while the operation of the drive unit is under the control of a control module associated with one of the aircraft devices 100 docked to each other to form the cluster aircraft device.

[0135] According to another embodiment of the present invention, the control module in one of the aircraft devices 100 forming the cluster aircraft device may further enable the undocked aircraft device 100 to be directed to an apron (not shown) provided with one or more charging devices (not shown), each electrically connected to at least one of the apron power sources and enabling each connection of at least one aircraft thereto, for at least partial charging or at least partial replenishment of the range of the undocked aircraft device 100, such that the aircraft device 100 transitions to a state having at least a partially replenished range or a fully replenished range, thus enabling the aircraft device to redock with at least one of the aircraft devices 100 docked to each other forming the cluster aircraft device. It should be noted that each of the apron power sources in this embodiment of the present invention may be one or more batteries, an internal combustion engine-based generator, a hydrogen engine-based generator, a solar panel, or any other suitable energy source known in the art. It should also be noted that at least one or each of the apron charging devices (not shown) in this embodiment of the present invention may be a wireless charging device, a wired charging device, or a charging dock. Alternatively, at least one or each of the apron charging devices may be configured in the form of, for example, a device for supplying electric energy, a device for supplying liquid or gaseous fuel, and / or the like. As yet another alternative, at least one or each of the apron charging devices may be hydraulically connected to a pump (not shown) connected by a hydraulic line to a reservoir or container (not shown) with fuel so as to allow the intake of fuel from the container to allow the supply of said intake amount of fuel tanks of the aircraft equipment 100 hydraulically connected to the fuel-powered engines of the aircraft equipment 100, thus allowing the replenishment of the range of the aircraft equipment 100 (in particular by at least partial replenishment of the amount of fuel in the fuel tanks of the aircraft equipment 100).

[0136] In one variation of this embodiment of the present invention, the control module in one of the aircraft devices 100 forming the cluster aircraft system may further enable docking of an aircraft device having a replenished range to one of the aircraft devices 100 docked together to form the cluster aircraft system. In another variation of this embodiment of the present invention, the control module in one of the aircraft devices 100 forming the cluster aircraft system may further be configured to submit control commands to a payload transfer module (not shown) associated with the docked aircraft device to enable transfer of a payload from the docked aircraft device to at least one of the aircraft devices 100 docked together to form the cluster aircraft system.

[0137] According to another embodiment of the present invention, at least two of the aircraft devices 100 that are docked with each other may each be further provided with an additional guide (not shown), and wherein a control module in one of the aircraft devices 100 may further enable movement of a payload transfer module (not shown) along an additional cluster guide (not shown) formed from the additional guides of the aircraft devices 100 when the aircraft devices 100 are docked with each other.

[0138] It should also be noted that at least one or each of the control units of the cluster aircraft apparatus shown in Figure 1 and formed from the aircraft apparatus 100 docked to one another in Figure 1, or a control device of the system for transferring a payload 500-1, which may comprise the cluster aircraft apparatus, may be further configured to enable undock of at least some or all of the aircraft apparatus 100 of Figure 1 forming the cluster aircraft apparatus. Furthermore, at least one or each of the control units of the cluster aircraft apparatus shown in Figure 1 and formed from the aircraft apparatus 100 docked to one another in Figure 1, or a control device of the system for transferring a payload 500-1, which may comprise the cluster aircraft apparatus, may be further configured to enable detachable docking of one or more additional aircraft apparatus 100 shown in Figure 1, one or more of the cluster aircraft apparatus respectively formed from the aircraft apparatus 100 docked to one another in Figure 1, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below, to such cluster aircraft apparatus.It should also be noted that the step of detachably docking a cluster aircraft device formed from aircraft devices 100 docked to each other in Figure 1 that is part of system 500-1 to one or more additional aircraft devices 100 in Figure 1, one or more additional cluster aircraft devices each formed from aircraft devices 100 docked to each other in Figure 1, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below may be performed by having at least one or each of the docking modules 130 provided in the housing 110 of the aircraft device forming the cluster aircraft device detachably interact with at least one of the auxiliary docking modules that may be provided in the housing of the one or more additional aircraft devices 100 in Figure 1, one or more additional cluster aircraft devices, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more payloads 200 described below, and / or one or more cluster payloads described below, respectively.

[0139] Second embodiment of the payload moving system FIG. 2 is a second example of a system 500-2 for moving payloads in accordance with the present invention, comprising two aircraft devices 100 configured to be removably connected to each other or removably docked to each other to form a cluster aircraft device.

[0140] It should be noted that system 500-2 is substantially a variation or modification of system 500-1 shown in Figure 1. Accordingly, it should be noted that similar functional components that are part of systems 500-1 and 500-2, and similar components that are part of said similar functional components, are referred to in Figures 1 and 2 and in the body of this specification using the same reference numerals. It should also be noted that, where applicable, the above-described embodiments of system 500-1 also apply to or relate to system 500-2 shown in Figure 2, and therefore, any specific embodiments of the invention, alternative embodiments of the invention, and / or variations thereof discussed above with respect to system 500-1 should be construed as embodiments of system 500-2.

[0141] Similar to system 500-1 described above, system 500-2 may be comprised of two or more aircraft devices 100 configured to be removably connected to each other to form a cluster aircraft device, e.g., three, four, five, six, seven, eight, nine, ten, eleven, twelve or more aircraft devices, each configured similarly to one of the embodiments of aircraft device 100 described herein, wherein the aircraft devices 100 in system 500-2 may define or form one or more cluster aircraft devices (e.g., one, two, three, four, five, six, seven, eight, ten, ten or more cluster aircraft devices), each comprised of two or more aircraft devices 100 and having the same or different quantities of aircraft devices 100 as part thereof.

[0142] Furthermore, similar to the system 500-1, each of the aircraft devices 100 that are part of the system 500-2 comprises a housing 110 provided with two air propulsion units 120 that enable movement of the aircraft device 100 in the air, one guide 140 fixed to the housing 110 from the outside and configured to carry or hang a payload (including the payload 200 described below) thereon and move the carried or hung payload along the guide, and a control module configured to control the operation of the aircraft device 100 (including controlling the operation of its propulsion units 120) and to receive control commands and / or navigation commands from a control device that is part of the system 500-2 to enable docking of the aircraft device 100 to at least one other aircraft device that is the same as or separate from the aircraft device 100. However, in contrast to the system 500-1 shown in Fig. 1 , in the system 500-2 shown in Fig. 2 , the docking modules 130 are rigidly attached to both ends of the guides 140, thus enabling one or more other guides 140 provided on the housings 110 of one or more other aircraft devices 100 that are part of the system 500-2 to be removably connected or docked to the guides 140, thereby providing for removably docking of the aircraft devices 100 with each other, where the removably docking of the guides 140 associated with the housings 110 of the aircraft devices 100 with each other is achieved by causing the docking modules 130 of the guides of the aircraft devices to removably interact with each other. Similar to the system 500-1, in the system 500-2, when the aircraft devices 100 are docked with each other, the guides 140 of the aircraft devices 100 dock to form the cluster guide 145 shown in Fig. 2 . Thus, at least one of the guides provided on the housing 110 of at least one of the or each of the aircraft devices 100 that are part of system 500-2 is configured to removably connect or dock with one or more other guides on the housing of at least one other aircraft device 100 to form a cluster guide when such aircraft devices 100 are docked with each other.

[0143] In one embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-2 may be provided with one or more air propulsion units that enable movement of the aircraft device 100 in the air, and at least one or each of the one or more guides 140 may be configured to carry or suspend a payload (including payload 200, described below) thereon to enable movement of the payload along the guide 140, and may be configured to be removably connected to or docked with one or more guides 140 associated with the housing 110 of at least one other aircraft device 100 that is also part of the system 500-2.

[0144] In another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the system 500-2 may be provided with one or more docking modules 130 provided on the guide 140 of the housing 110 at spots or areas of the guide, and the docking modules allow the docking modules 130 of the aircraft devices 100 that are docked to each other to detachably interact with each other to form a cluster guide 145 from the separate guides 140 that are docked to each other, allowing the guide to be detachably connected or docked to one or more guides 140 of the housing 110 of other aircraft devices 100, and allowing free movement of payload along the cluster guide 145.

[0145] Furthermore, a control module (not shown) that is part of system 500-2 shown in FIG. 2 and that is associated with one of the aircraft devices 100 that are docked together to form a cluster aircraft device may further enable undock of at least one of the docked aircraft devices 100 to form a cluster guide from the guides 140 of the remaining docked aircraft devices, and / or enable docking of yet another aircraft device 100 to one of the docked aircraft devices to form a cluster guide from the guides of the docked aircraft devices.

[0146] It should also be noted that at least one or each of the control units of the cluster aircraft apparatus shown in FIG. 2 and formed from the aircraft apparatuses 100 docked to each other in FIG. 2, or a control device of the payload moving system 500-2, which may comprise the cluster aircraft apparatus, may be further configured to enable undock of at least some or all of the aircraft apparatuses 100 in FIG. 2 that form the cluster aircraft apparatus. Furthermore, at least one or each of the control units of the cluster aircraft apparatus shown in FIG. 2 and formed from the aircraft apparatuses 100 docked to each other in FIG. 2, or the control device of the payload moving system 500-2, which may comprise the cluster aircraft apparatus, may be further configured to enable detachable docking of one or more additional aircraft apparatus 100 shown in FIG. 2, one or more cluster aircraft apparatus each formed from the aircraft apparatuses 100 docked to each other in FIG. 2, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below, to such cluster aircraft apparatus.It should also be noted that the step of detachably docking a cluster aircraft device formed from aircraft devices 100 docked to each other in Figure 2 that is part of system 500-2 to one or more additional aircraft devices 100 in Figure 2, one or more additional cluster aircraft devices each formed from aircraft devices 100 docked to each other in Figure 2, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below may be performed by having at least one or each of the docking modules 130 provided in the guide 140 of the aircraft device forming the cluster aircraft device detachably interact with at least one of the auxiliary docking modules that may be provided in the housing of the one or more additional aircraft devices 100 in Figure 2, one or more additional cluster aircraft devices, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more payloads 200 described below, and / or one or more cluster payloads described below.

[0147] Third embodiment of the payload moving system The third embodiment of the system for moving a payload is a variation of system 500-2 described above with reference to Figure 2. Accordingly, like functional components that are part of the third embodiment of the system for moving a payload, and like components that are part of those like functional components, are referred to in the body of this specification using the same reference numerals as used with respect to system 500-2 described above. It should also be noted that, where applicable, the above embodiment of system 500-2 also applies to or relates to the third embodiment of the system for moving a payload, and therefore, any specific embodiments of the invention, alternative embodiments of the invention, and / or variations thereof described above on system 500-2 should be construed as embodiments of the third embodiment of the system for moving a payload.

[0148] Similar to system 500-2, the third embodiment of the system for moving a payload may include two or more aircraft devices 100 configured to removably connect to each other or removably dock to each other to form a cluster aircraft device.

[0149] Further, similar to the above system 500-2, in a third embodiment of a system for moving a payload, each of the aircraft devices 100 comprises a housing 110 provided with two air propulsion units 120 that enable movement of the aircraft device 100 in the air, one guide 140 fixed to the housing 110 from the outside and configured to carry or hang a payload thereon and move the carried or hung payload along it, and a control module configured to control the operation of the aircraft device 100 (including controlling the operation of its propulsion units 120) and to receive control commands and / or navigation commands from a control device that is part of the third embodiment of the system for moving a payload to enable docking of the aircraft device 100 to at least one other aircraft device that is the same as or separate from the aircraft device 100.

[0150] Further, similar to the above system 500-2, in the third embodiment of the system for moving a payload, the docking modules 130 are rigidly attached to both ends of the above guide 140, thus enabling one or more other guides 140 provided on the housings 110 of one or more other aircraft devices 100 that are part of the third embodiment of the system for moving a payload to be removably connected or docked to the above guide 140, thereby providing for removably docking of the aircraft devices 100 with each other, wherein the removably docking of the guides 140 associated with the housings 110 of the aircraft devices 100 with each other is achieved by causing the docking modules 130 of the guides of the above aircraft devices to removably interact with each other.

[0151] Furthermore, similar to system 500-2 above, in the third embodiment of the system for moving a payload, docking the aircraft devices 100 with one another causes the guides 140 of the aircraft devices 100 to dock with one another to form cluster guides 145. Accordingly, at least one of the guides provided on the housing 110 of at least one of the or each of the aircraft devices 100 that are part of the third embodiment of the system for moving a payload is configured to removably connect to or dock with one or more other guides on the housing 110 of at least one other aircraft device 100 to form cluster guides 145 with such aircraft devices 100 docked with one another.

[0152] In contrast to the above system 500-2, in the third embodiment of the system for moving a payload, at least one or each of the one or more guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the third embodiment of the system for moving a payload is at least partially or completely configured to move relative to the housing 110 of the aircraft device, thus allowing a payload mounted or suspended on the movable guide to further move relative to the housing 110 during movement of the guide 140, where simultaneously the payload may be moved immediately along the guide, thus not only increasing the speed of movement of the payload relative to the housing 110 of the aircraft device, but also increasing the overall smoothness of the movement of the payload, thereby reducing vibration stress on the payload.

[0153] In particular, movement of the payload along the guide 140 in the third embodiment of the system for moving a payload may be performed by using the payload movement module or the gripping mechanism for moving a payload described above for system 500-1, where such payload movement module or such gripping mechanism for moving a payload may be mounted on the housing 110 of the aircraft device or on the guide 140 itself.

[0154] Furthermore, movement of the guide 140 relative to the housing 110 of the aircraft device may be performed in a third embodiment of the system for moving a payload by using a guide movement module that may be mounted on the housing 110 of the aircraft device and that may operatively interact with said guide 140 to enable its movement relative to said housing. In one of the embodiments of the present invention, such a guide 140 may be mounted or fixed directly on the guide movement module, which may then be mounted on the housing 110 of the aircraft device so as to be movably relative to said housing 110, so that movement of the guide movement module relative to the housing 110 of the aircraft device also leads to movement of the guide mounted on said guide movement module relative to said housing 110. In another embodiment of the present invention, such a guide 140 may be configured to be telescopic such that at least partially or completely folding / unfolding said guide 140 leads to movement of the payload mounted or suspended on such guide 140 relative to the housing 110 of the aircraft device.

[0155] It should be noted that the guide movement module may be implemented in a similar manner as the payload movement module or gripping mechanism for moving a payload described above for system 500-1, and therefore the examples of the payload movement module or gripping mechanism for moving a payload described herein may be considered exemplary possible examples of the guide movement module.

[0156] It should also be noted that the guide movement module and the payload movement module may be configured as a single functional or drive device that implements the above-mentioned functions of the guide movement module and the payload movement module, i.e., enables movement of a payload along one or more guides 140 provided in the housing 110 of the aircraft device, and at the same time enables movement of the guides 140 relative to the housing 110.

[0157] In one embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the third embodiment of the system for moving a payload may be provided with one or more air propulsion units and one or more guides 140 that enable movement of the aircraft device 100 in the air, and at least one or each of the guides may be configured to carry or suspend a payload (including payload 200 described below) thereon to enable movement of the payload along the guides 140, and may be configured to be removably connected to or docked with one or more guides 140 on the housing 110 of at least one other aircraft device 100 that are part of the third embodiment of the system for moving a payload.

[0158] In another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the third embodiment of the system for moving a payload may have one or more docking modules 130 provided on the guides 140 of the housing 110 at spots or areas of the guides 140, and the docking modules allow the docking modules 130 of the aircraft devices 100 that are docked to each other to detachably interact with each other to form a cluster guide 145 from the docked separate guides 140, allowing the guides to be detachably connected or docked to one or more guides 140 of the housings 110 of other aircraft devices 100, and allowing free movement of the payload along the cluster guide 145.

[0159] Furthermore, a control module (not shown) associated with one of the aircraft devices 100 that are part of the third embodiment of the system for moving a payload shown in FIG. 2 and that are docked together to form a cluster aircraft device may further enable undock of at least one of the docked aircraft devices 100 to form a cluster guide 145 from the guides 140 of the remaining docked aircraft devices, and / or enable docking of yet another aircraft device 100 to one of the docked aircraft devices to form a cluster guide 145 from the guides of the docked aircraft devices.

[0160] Furthermore, a control module (not shown) that is part of the third embodiment of the system for moving a payload and is associated with at least one of the aircraft devices that are docked together to form a cluster aircraft device to which the cluster guide 145 is attached further enables movement of the payload (including payload 200, described below) along the cluster guide 145, and at the same time enables movement of at least a portion of the cluster guide 145 relative to at least one of the housings 110 of the aircraft devices 100 that are docked together.

[0161] It should also be noted that at least one or each of the control units of a cluster aircraft device formed from aircraft devices 100 docked to each other that are part of the third embodiment of the system for transferring payload, or the control device of the third embodiment of the system for transferring payload that may include the cluster aircraft device, may be further configured to enable undock of at least some or all of the aircraft devices 100 that form the cluster aircraft device. Furthermore, at least one or each of the control units of a cluster aircraft device formed from aircraft devices 100 docked to each other that are part of the third embodiment of the system for transferring a payload, or a control device of the third embodiment of the system for transferring a payload that may comprise the cluster aircraft device, may be further configured to enable detachable docking of one or more additional aircraft devices 100 associated with the third embodiment of the system for transferring a payload, one or more cluster aircraft devices each formed from aircraft devices 100 docked to each other that are associated with the third embodiment of the system for transferring a payload, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below and / or one or more cluster payloads described below to such cluster aircraft device.The step of removably docking a cluster aircraft device formed from aircraft devices 100 docked to one another associated with the third embodiment of the system for transferring a payload to one or more additional aircraft devices 100 associated with the third embodiment of the system for transferring a payload, one or more additional cluster aircraft devices each formed from aircraft devices 100 docked to one another associated with the third embodiment of the system for transferring a payload, one or more self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below forms the cluster aircraft device. It should also be noted that this may be achieved by detachably interacting at least one or each of the docking modules 130 provided on the guide 140 of the aircraft device with at least one of the auxiliary docking modules that may be provided on the housing of the one or more additional aircraft devices 100 associated with the third embodiment of the system for transferring a payload, one or more additional cluster aircraft devices associated with the third embodiment of the system for transferring a payload, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more payloads 200 described below and / or one or more cluster payloads described below.

[0162] Fourth embodiment of the payload moving system The fourth embodiment of the system for moving a payload is a variation of system 500-1 described above with reference to Figure 1. Accordingly, like functional components that are part of the fourth embodiment of the system for moving a payload, and like components that are part of those like functional components, are referred to in the body of this specification using the same reference numerals as used in reference to system 500-1 described above. It should also be noted that, where applicable, the above embodiments of system 500-1 also apply to or relate to the fourth embodiment of the system for moving a payload, and therefore, any specific embodiments of the invention, alternative embodiments of the invention, and / or variations thereof described above on system 500-1 should be construed as embodiments of the third embodiment of the system for moving a payload.

[0163] Similar to system 500-1, the fourth embodiment of the system for moving a payload may include two or more aircraft devices 100 configured to removably connect to each other or removably dock to each other to form a cluster aircraft device.

[0164] Further, similar to the above system 500-1, in a fourth embodiment of a system for moving a payload, each of the aircraft devices 100 comprises a housing 110 provided with two air propulsion units 120 that enable movement of the aircraft device 100 in the air, one guide 140 fixed to the housing 110 from the outside thereof and configured to carry or hang a payload on it and move the carried or hung payload along it, and a control module configured to control the operation of the aircraft device 100 (including controlling the operation of its propulsion units 120) and to receive control commands and / or navigation commands from a control device that is part of the fourth embodiment of the system for moving a payload to enable docking of the aircraft device 100 to at least one other aircraft device that is the same as or separate from the aircraft device 100.

[0165] Furthermore, similar to system 500-1 above, in the fourth embodiment of the system for transferring a payload, the docking modules 130 are mounted from outside the housings 110, thus enabling one or more other docking modules 130 provided in the housings 110 of one or more other aircraft devices 100 that are part of the fourth embodiment of the system for transferring a payload to be removably connected or docked to at least one of these docking modules 130, thereby providing for removably docking of the aircraft devices 100 to one another. Thus, in the fourth embodiment of the system for transferring a payload, the removably docking of the housings 110 of the aircraft devices to one another is achieved by having the docking modules 130 of those housings 110 removably interact with one another.

[0166] Furthermore, similar to system 500-1 above, in the fourth embodiment of the system for moving a payload, docking the aircraft devices 100 to one another causes detachable docking (i.e., butt connection) or releasable connection of the guides 140 provided on the housings 110 of the aircraft devices that are docked to one another to form cluster guides 145. Thus, at least one of the guides provided on the housing 110 of at least one of the or each of the aircraft devices 100 that are part of the fourth embodiment of the system for moving a payload is configured to detachably connect or dock to one or more other guides on the housing 110 of at least one other aircraft device 100 to form cluster guide 145 when such aircraft devices are docked to one another.

[0167] In contrast to the above system 500-1, in the fourth embodiment of the system for moving a payload, at least one or each of the one or more guides 140 provided on the housing 110 of at least one or each of the aircraft devices 100 that are part of the fourth embodiment of the system for moving a payload is at least partially or completely configured to move relative to the housing 110 of the aircraft device, thus allowing a payload mounted or suspended on the movable guide to further move relative to the housing 110 during movement of the guide 140, where simultaneously the payload may be moved immediately along the guide 140, thus not only increasing the speed of movement of the payload relative to the housing 110 of the aircraft device, but also increasing the smoothness of the overall movement of the payload, thereby reducing vibration stress on the payload.

[0168] In particular, movement of the payload along the guide 140 in the fourth embodiment of the system for moving a payload may be performed by using the payload movement module or the gripping mechanism for moving the payload described above for system 500-1, where such payload movement module or such gripping mechanism for moving the payload may be mounted on the housing 110 of the aircraft device or on the guide 140 itself.

[0169] Furthermore, movement of the guide 140 relative to the housing 110 of the aircraft device may, in a fourth embodiment of the system for moving a payload, be performed by using a guide movement module that may be mounted on the housing 110 of the aircraft device and that may operatively interact with said guide 140 to enable its movement relative to said housing 110. In one embodiment of the present invention, such a guide 140 may be mounted or fixed directly on the guide movement module, which may then be mounted on the housing 110 of the aircraft device so as to be movable relative to said housing 110, such that movement of the guide movement module relative to the aircraft housing 110 also leads to movement of the guide 140 mounted on said guide movement module relative to said housing 110. In another embodiment of the present invention, such a guide 140 may be configured to be telescopic such that at least partial or complete folding / unfolding of said guide 140 leads to movement of a payload mounted or suspended on such guide 140 relative to the housing 110 of the aircraft device.

[0170] It should be noted that the guide movement module may be implemented similarly to the payload movement module or gripping mechanism for moving a payload described above for system 500-1, and therefore the examples of the payload movement module or gripping mechanism for moving a payload described herein may be considered exemplary possible examples of the guide movement module.

[0171] It should also be noted that the guide movement module and the payload movement module may be configured as a single function or drive device that implements the above functions of the guide movement module and the payload movement module, i.e., enables movement of a payload along one or more guides 140 provided in the housing 110 of the aircraft device, and at the same time enables movement of the guides 140 relative to the housing 110.

[0172] In one embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the fourth embodiment of the system for moving a payload may be provided with one or more air propulsion units and one or more guides 140 that enable movement of the aircraft device 100 in the air, and at least one or each of the guides may be configured to carry or suspend a payload thereon (including payload 200, described below) to enable movement of the payload along the guides 140, and may be configured to be removably connected to or docked with one or more guides 140 that may be associated with the housing 110 of at least one other aircraft device 100 that is also part of the fourth embodiment of the system for moving a payload.

[0173] In another embodiment of the present invention, the housing 110 of at least one or each of the aircraft devices 100 that are part of the fourth embodiment of the system for moving a payload is provided with one or more docking modules 130 provided on the housing 110 of the aircraft device on a spot or area on the body of the housing 110, allowing the docking modules 130 of the housing 110 to detachably connect or dock the housing 110 to one or more housings 110 of other aircraft devices 100 by detachably interacting with each other, and at least one of the guides 140 provided on the housing 110 to detachably connect or dock to one or more guides 140 of the housing 110 of one or more other aircraft devices 100 to form a cluster guide 145 from the docked separate guides 140, allowing free movement of the payload along the cluster guide 145.

[0174] Furthermore, a control module (not shown) that is part of the fourth embodiment of the system for moving a payload shown in FIG. 2 and that is associated with one of the aircraft devices 100 that are docked to each other to form a cluster aircraft device, further enables undock of at least one of the docked aircraft devices 100 to enable formation of a cluster guide 145 from the guides 140 of the remaining docked aircraft devices, and / or enables docking of yet another aircraft device 100 to one of the docked aircraft devices to enable formation of a cluster guide 145 from the guides of the docked aircraft devices.

[0175] Furthermore, a control module (not shown) that is part of the fourth embodiment of the system for moving a payload and is associated with one of the aircraft devices 100 that are docked together to form a cluster aircraft device provided with the cluster guide 145 further enables movement of a payload (including payload 200, described below) along the cluster guide 145, and at the same time enables movement of at least a portion of the cluster guide 145 relative to at least one of the housings 110 of the aircraft devices 100 that are docked together.

[0176] It should also be noted that at least one or each of the control units of a cluster aircraft device formed from aircraft devices 100 docked to each other that are part of the fourth embodiment of the system for transferring payload, or the control device of the fourth embodiment of the system for transferring payload that may include the cluster aircraft device, may be further configured to enable undock of at least some or all of the aircraft devices 100 that form the cluster aircraft device. Furthermore, at least one or each of the control units of a cluster aircraft device formed from aircraft devices 100 docked to each other that are part of the fourth embodiment of the system for transferring a payload, or a control device of the fourth embodiment of the system for transferring a payload that may comprise said cluster aircraft device, may be further configured to enable detachable docking to such cluster aircraft device of one or more additional aircraft devices 100 that are part of the fourth embodiment of the system for transferring a payload, one or more of said cluster aircraft devices each formed from aircraft devices 100 docked to each other that are part of the fourth embodiment of the system for transferring a payload, one or more of the self-propelled modules described below, one or more cluster self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below.The step of removably docking a cluster aircraft device formed from aircraft devices 100 docked to one another that are part of the fourth embodiment of the system for transferring a payload to one or more additional cluster aircraft devices 100 associated with the fourth embodiment of the system for transferring a payload, one or more additional cluster aircraft devices each formed from aircraft devices 100 docked to one another associated with the fourth embodiment of the system for transferring a payload, one or more self-propelled modules described below, one or more self-propelled modules 300 described below, one or more payloads 200 described below, and / or one or more cluster payloads described below, forms said cluster aircraft device. This may be achieved by detachably interacting at least one or each of the docking modules 130 provided in the housing 110 of the aircraft device comprising the fourth embodiment with at least one of the auxiliary docking modules that may be provided in the housing of the one or more additional aircraft devices 100 associated with the fourth embodiment of the system for transferring a payload, one or more additional cluster aircraft devices associated with the fourth embodiment of the system for transferring a payload, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more payloads 200 described below, and / or each of one or more cluster payloads described below.

[0177] In particular, in view of the above description of an embodiment of aircraft device 100 and an embodiment of a cluster aircraft device formed from aircraft devices 100 docked to one another, one of the variants of the system for transferring payloads according to the present invention may include one or more aircraft devices 100 according to the second embodiment of system 500-2 for transferring payloads, at least one of which may be connected to one or more additional aircraft devices according to the second embodiment of system 500-2 for transferring payloads, or system 500 for transferring payloads, by removably connecting the guides 140 of the aircraft devices docked to one another to enable movement of payloads (including payloads 200, described below, or cluster payloads, described below) along the cluster guides 145 formed from the guides 140 of the aircraft devices docked to one another. The aircraft device may be removably docked to one or more cluster aircraft devices according to the second embodiment of the system 500-2 for transferring a payload, or may be equipped with one or more cluster aircraft devices according to the second embodiment of the system 500-2 for transferring a payload, and at least one of these aircraft devices may be removably docked to one or more additional aircraft devices 100 according to the second embodiment of the system 500-2 for transferring a payload, or to one or more cluster aircraft devices according to the second embodiment of the system 500-2 for transferring a payload, by removably connecting the guides 140 of the aircraft devices docked to each other so as to enable movement of a payload (including a payload 200 described below or a cluster payload described below) along cluster guides 145 formed from the guides 140 of the aircraft devices docked to each other.

[0178] Furthermore, in view of the above description of the embodiment of the aircraft device 100 and the embodiment of the cluster aircraft devices formed from the aircraft devices 100 docked to one another, yet another variant of the system for transferring payloads according to the present invention may include one or more aircraft devices 100 according to the third embodiment of the system for transferring payloads, at least one of which may be connected to one or more additional aircraft devices 100 according to the third embodiment of the system for transferring payloads, or to a cluster of aircraft devices 100 for transferring payloads, by removably connecting the guides 140 formed from the guides 140 of the aircraft devices docked to one another to enable simultaneous movement of a payload (including a payload 200, described below, or a cluster payload, described below) along the cluster guides 145 formed from the guides 140 of the aircraft devices docked to one another, and movement of at least a portion of the cluster guides 145 relative to the housings 110 of one or more of the aircraft devices docked to one another. The aircraft devices may be removably docked to one or more cluster aircraft devices according to the third embodiment of the system for transferring payloads, or may comprise one or more cluster aircraft devices according to the third embodiment of the system for transferring payloads, and at least one of these aircraft devices may be removably docked to one or more additional aircraft devices 100 according to the third embodiment of the system for transferring payloads, or to one or more cluster aircraft devices according to the third embodiment of the system for transferring payloads, by removably connecting the guides 140 of the aircraft devices docked to each other to each other so as to enable simultaneous movement of a payload (including a payload 200 described below or a cluster payload described below) along cluster guides 145 formed from the guides 140 of the aircraft devices docked to each other, and movement of at least a portion of the cluster guides 145 relative to one or more housings 110 of the aircraft devices docked to each other.

[0179] Furthermore, in view of the above description of an embodiment of aircraft device 100 and an embodiment of a cluster aircraft device formed from aircraft devices 100 docked to one another, yet another variation of a system for transferring payloads according to the present invention may include one or more aircraft devices 100 according to the first embodiment of system 500-1 for transferring payloads, at least one of which may be connected to one or more additional aircraft devices according to the first embodiment of system 500-1 for transferring payloads, or to one or more additional aircraft devices according to the first embodiment of system 500-1 for transferring payloads, by removably connecting their docking modules 130 to one another to enable movement of payloads (including payloads 200, described below, or cluster payloads, described below) along cluster guides 145 formed from guides 140 of the aircraft devices docked to one another. The aircraft devices may be removably docked to one or more cluster aircraft devices according to the first embodiment of the system 500-1 for transferring payloads, or may be equipped with one or more cluster aircraft devices according to the first embodiment of the system 500-1 for transferring payloads, and at least one of these aircraft devices may be removably docked to one or more additional aircraft devices 100 according to the first embodiment of the system 500-1 for transferring payloads, or to one or more cluster aircraft devices according to the first embodiment of the system 500-1 for transferring payloads, by removably connecting their docking modules 130 to each other so as to enable movement of payloads (including payloads 200 described below or cluster payloads described below) along cluster guides 145 formed from the guides 140 of the aircraft devices docked to each other.

[0180] Furthermore, in view of the above description of the embodiment of the aircraft device 100 and the embodiment of the cluster aircraft device formed from the aircraft devices 100 docked to one another, another variation of the system for transferring payloads according to the present invention may include one or more aircraft devices 100 according to the fourth embodiment of the system for transferring payloads, at least one of which has its docking modules 130 removably connected to one another so as to enable simultaneous movement of a payload (including a payload 200, described below, or a cluster payload, described below) along a cluster guide 145 formed from the guides 140 of the aircraft devices docked to one another, and movement of at least a portion of the cluster guide 145 relative to one or more housings 110 of the aircraft devices docked to one another. The aircraft devices may be removably docked to one or more cluster aircraft devices according to the fourth embodiment of the system for transferring a payload, or may be equipped with one or more cluster aircraft devices according to the fourth embodiment of the system for transferring a payload, and at least one of these aircraft devices may be removably docked to one or more additional aircraft devices 100 according to the fourth embodiment of the system for transferring a payload, or to one or more cluster aircraft devices according to the fourth embodiment of the system for transferring a payload, by removably connecting their docking modules 130 to each other so as to enable simultaneous movement of a payload (including a payload 200 described below or a cluster payload described below) along a cluster guide 145 formed from the guides 140 of the aircraft devices docked to each other, and movement of at least a portion of the cluster guide 145 relative to one or more housings 110 of the aircraft devices docked to each other.

[0181] Furthermore, in other embodiments of the present invention, at least one or each of the one or more docking modules 130 that may be provided in the housing 110 of the aircraft device 100 according to any one of the embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be disposed on one of the sides of the housing 110 of the aircraft device and separate from the remaining docking modules 130. In one variation of this embodiment of the present invention, the one or more docking modules 130 that may be provided in the housing 110 of the aircraft device 100 according to any one of the embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be disposed on the same side of the housing 110 of the aircraft device or on different sides of the housing 110 of the aircraft device.

[0182] Furthermore, in other embodiments of the present invention, at least one or each of the one or more guides 140 that may be provided on the housing 110 of the aircraft device according to any one of the embodiments described herein, known in the prior art, or that would be understood by a person skilled in the art may be located on one of the sides of the housing 110 of the aircraft device and be separate from the remaining ones of the guides 140 of the aircraft device. In one variation of this embodiment of the present invention, the one or more guides 140 that may be provided on the housing 110 of the aircraft device according to any one of the embodiments described herein, known in the prior art, or that would be understood by a person skilled in the art may be located on the same side of the housing 110 of the aircraft device or on different sides of the housing 110 of the aircraft device.

[0183] Self-propelled module Figures 3.1, 3.2, and 3.3 show exemplary self-propelled modules 300-1, 300-2, 300-3, and 300-4, each of which may be configured to removably dock to at least one of the aircraft devices 100 and / or to removably dock to at least one of the payloads 200 described below, and wherein at least some or each of the self-propelled modules 300-1, 300-2, 300-3, and 300-4 may be initially housed, stored, or parked in at least one of parking areas (not shown) configured to charge or replenish the range of such self-propelled modules.

[0184] It should be noted that the self-propelled modules 300-1, 300-2, 300-3, 300-4 shown in Figures 3.1, 3.2, and 3.3 are of different types characterized by different movement capabilities of such self-propelled modules in space. It should also be noted that the self-propelled modules 300-1, 300-2, 300-3, 300-4 shown in Figures 3.1, 3.2, and 3.3 are shown as illustrative examples only, and a person skilled in the art will readily understand that such self-propelled modules may have other types known in the art, and therefore the dimensions, manufacturing materials, housing shapes, etc. of such self-propelled modules are not specifically limited in any way.

[0185] 3.1 illustrates a self-propelled module 300-1 comprising a housing 310 provided with one primary docking module 330 and two unmanned aerial vehicles 320, each provided with an air propeller 325, each removably docked or connected to said housing 310 using a corresponding one of two auxiliary docking modules 350, where primary docking module 330 and auxiliary docking module 350 may be configured similarly to said docking module 130 according to any embodiment thereof described herein. It should be noted that unmanned aerial vehicle 320, with its air propeller 325 removably connected to the self-propelled module's housing 310, effectively functions as an air propulsion unit for self-propelled module 300-1, enabling said self-propelled module 300-1 to move or fly through the air. It should also be noted that each unmanned aerial vehicle 320 equipped with its air propeller 325 on the self-propelled module 300-1 is substantially an independent unmanned aerial vehicle and is provided with its own control module, which is configured to control the operation of that unmanned aerial vehicle 320 and is configured to receive navigation and / or control commands from at least the control unit of the self-propelled module 300-1 and / or from a control device described herein of the system, allowing the implementation of a process for controlling the operation of that unmanned aerial vehicle 320 based on the received navigation and / or control commands, and is provided with a docking means or docking module similar to one of the docking modules described herein, allowing detachable docking to an auxiliary docking module 350 associated with the self-propelled module housing 310, thus allowing detachable docking of such unmanned aerial vehicle 320 to the self-propelled module housing 310.

[0186] It should also be noted that the main docking module 330 provided in the housing 310 of the self-propelled module 300-1 may detachably interact with at least one of the guides 140 that may be provided in the housing 110 of at least one of the aircraft devices 100 in the first, second, third and fourth embodiments of the payload moving system, and / or may interact with at least one of the guides 240 that may be provided in the housing 210 of at least one of the payloads 200 described below, thus allowing the self-propelled module 300-1 to be mounted or suspended on the at least one guide and allowing the self-propelled module 300-1 to move along the guide.

[0187] Furthermore, the housing 310 of the self-propelled module 300-1 shown in Figure 3.1 is provided with a wheeled propulsion unit 340 in the form of a wheel base, allowing the self-propelled module 300-1 to move on the surface of the earth (land) or on the surface of a stationary or mobile object that may be at least partially located in airspace, terrestrial space, water space and / or underwater space. Thus, the wheeled propulsion unit 340 of the self-propelled module 300-1 shown in Figure 3.1 is effectively an additional means of movement provided to the housing 310 of the self-propelled module and further to the unmanned aerial vehicle 320 with its air propeller 325 detachably connected to said housing 310.

[0188] In one embodiment of the present invention, the housing 310 of the self-propelled module 300-1 shown in FIG. 3.1 may be provided with one or more air propulsion units (e.g., 1, 2, 3, 4, 5, 6, 7, 9, 10 or more air propulsion units) that enable the self-propelled module 300-1 to move through the air and are permanently fixed to the housing 310.

[0189] In another embodiment of the present invention, the housing 310 of the self-propelled module 300-1 shown in FIG. 3.1 may be provided with one or more unmanned aerial vehicles 320 (e.g., 1, 2, 3, 4, 5, 6, 7, 9, 10 or more such unmanned aerial vehicles) having their air propellers 325 removably secured to the housing 310 using an auxiliary docking module 350. In one variation of this embodiment of the present invention, at least one of the unmanned aerial vehicles 320 that may be removably docked to the self-propelled module's housing 310 may be provided with one or more air propellers 325 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more such air propellers 325) that enable the self-propelled module 300-1 to move or fly through the air.

[0190] In yet another embodiment of the present invention, the housing 310 in the self-propelled module 300-1 shown in Figure 3.1 may be provided with one or more unmanned aerial vehicles 320 having their air propellers 325 removably fixed to the housing 310 of the self-propelled module, and may further be provided with one or more additional air propulsion units non-removably fixed to the housing 310 of the self-propelled module.

[0191] Furthermore, the self-propelled module 300-1 comprises a control unit (not shown) mounted inside the housing 310 and configured to control the operation of the self-propelled module 300-1, including overall control of the operation of the unmanned aerial vehicle 320, in particular the operation of its air propeller 325.

[0192] The control unit of the self-propelled module 300-1 is configured to issue control commands to at least one or each of the unmanned aerial vehicles 320 to enable the operation of the air propellers 325 of the unmanned aerial vehicles 320, thereby enabling the self-propelled module 300-1 to move or fly through the air due to the thrust generated by the activated air propellers 325, wherein the operation of the air propellers 325 of both unmanned aerial vehicles 320, which perform the function of the air propulsion units of the self-propelled module 300-1, to provide for their substantially simultaneous or parallel operation, increases the carrying capacity of such self-propelled module 300-1.

[0193] Further, the control unit of self-propelled module 300-1 is configured to issue control commands to at least one or each of unmanned aerial vehicles 320 to enable its undocking from housing 310 as a result of withdrawal of said unmanned aerial vehicle 320 from interaction with the corresponding auxiliary docking module 350.

[0194] The control unit of the self-propelled module 300-1 is also configured to issue control commands to at least one of the unmanned aerial vehicles 320 present in the airspace or housed on a tarmac (not shown) to enable the unmanned aerial vehicle 320 to be directed to the self-propelled module 300-1 in order to removably dock the directed unmanned aerial vehicle 320 to the housing 310 of the self-propelled module by having the unmanned aerial vehicle 320 interact with one of the free auxiliary docking modules 350.

[0195] Furthermore, the control unit of the self-propelled module 300-1 is configured to issue control commands to the additional mobility means of the self-propelled module 300-1 in the form of a wheeled propulsion unit 340, to operate the self-propelled module 300-1 to enable it to move on the surface of a stationary or movable object that is at least partially present on the surface of the earth (land) or in airspace, terrestrial space, aquatic space and / or underwater space.

[0196] It should be noted that to enable use of self-propelled module 300-1 as part of one of the systems for moving a payload described herein, the control unit of self-propelled module 300-1 is further configured to communicate with at least one control module of aircraft equipment 100 and / or a control module of payload 200 (if the latter is present in the housing of payload 200) via a communications network. Furthermore, the control unit of self-propelled module 300-1 may be further configured to receive and process navigation and / or control commands from a control device that may be part of any one of the systems for moving a payload described herein, and to control the operation of self-propelled module 300-1 in response to said navigation and / or control commands, including performing the functions assigned to the control unit of self-propelled module 300-1.

[0197] Furthermore, the primary docking module 330 provided in the housing 310 of the self-propelled module 300-1 may be configured to detachably interact with at least one of the guides 140 that may be provided on the housing 110 of at least one of the aircraft devices 100 forming the cluster aircraft device, thereby allowing the self-propelled module 300-1 to be mounted on or suspended from the at least one guide 140 and to move along the cluster guide 140 associated with the cluster aircraft device, and / or may be configured to interact with at least one of the guides 240 that may be provided on the housing 210 of at least one of the payloads 200 described below that form the cluster payload described below, thereby allowing the self-propelled module 300-1 to be mounted on or suspended from the at least one guide 240 and to move along the cluster guide 240 associated with the cluster payload.

[0198] In one of the alternative embodiments of the present invention, the housing 310 of the self-propelled module 300-1 may be provided with a guide 360 ​​specific to the self-propelled module 300-2 described below, instead of the main docking module 330 shown in FIG. 3.1, and such guide 360 ​​may be adapted to detachably interact with at least one of the docking modules 130 that may be provided in the housing 110 of at least one of the aircraft devices 100 in the first and fourth embodiments of the system for transferring payloads, and / or to transfer the payloads 20 described below. The self-propelled module 300-1 may be adapted to detachably interact with at least one of the docking modules 230 that may be provided in the housing 210 of at least one of the self-propelled modules 300-1. Thus, in such an alternative embodiment of the present invention, the self-propelled module 300-1 may be adapted to dock with the at least one aircraft device 100 or the at least one payload 200, and the at least one aircraft device 100 or the at least one payload 200 may be adapted to move along the guides 360 that are provided in the housing 310 of the self-propelled module 300-1. Furthermore, by using a guide 360 ​​that may be provided on the housing 310 of the self-propelled module 300-1 according to this alternative embodiment of the present invention, the self-propelled module 300-1 may be removably docked to at least one of the aircraft devices 100 that form the cluster aircraft device, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 130 that may be provided on the housing 110 of the at least one aircraft device 100, and / or may be removably docked to at least one of the payloads 200 described below that form the cluster payload, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 230 that may be provided on the housing 210 of the at least one payload 200.

[0199] 3.2 shows a self-propelled module 300-2 comprising a housing 310 provided with a single guide 360 ​​and two unmanned aerial vehicles 320, each provided with an air propeller 325, each removably docked or connected to the housing 310 by a corresponding one of two docking modules 350, where the auxiliary docking module 350 may be configured similarly to the docking module 130 according to any one of the embodiments described herein, and the guide 360 ​​may be configured similarly to the guide 140 according to any one of the embodiments described herein. It should be noted that the unmanned aerial vehicle 320 with its air propeller 325 removably connected to the self-propelled module's housing 310 essentially performs the function of an air propulsion unit for the self-propelled module 300-2, enabling the self-propelled module 300-2 to move or fly through the air. It should also be noted that each unmanned aerial vehicle 320 having its air propeller 325 on the self-propelled module 300-2 is, in effect, an independent unmanned aerial vehicle and is provided with its own control module configured to control the operation of that unmanned aerial vehicle 320 and configured to receive navigation and / or control commands from at least the control unit of the self-propelled module 300-2 and / or from a control device described herein of the system, allowing for the implementation of a process of controlling the operation of that unmanned aerial vehicle 320 based on said received navigation and / or control commands, and is provided with docking means, or a docking module similar to one of the docking modules described herein, allowing for detachable docking to an auxiliary docking module 350 associated with the self-propelled module housing 310, thus allowing for detachable docking of such unmanned aerial vehicle 320 to the self-propelled module housing 310.

[0200] It should also be noted that the guide 360 ​​provided on the housing 310 of the self-propelled module 300-2 may be detachably interacted with at least one of the docking modules 130 that may be provided on the housing 110 of at least one of the aircraft devices 100 in the first and fourth embodiments of the payload moving system, and / or may be detachably interacted with at least one of the docking modules 230 that may be provided on the housing 210 of at least one of the payloads 200 described below, thus enabling docking of the self-propelled module 300-2 to the at least one aircraft device 100 or the at least one payload 200, and enabling the at least one aircraft device 100 or the at least one payload 200 to move along the guide 360 ​​provided on the housing 310 of the self-propelled module 300-2. Furthermore, the self-propelled module 300-2 may be removably docked to at least one of the aircraft devices 100 forming the cluster aircraft device, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 130 that may be provided in the housing 110 of at least one of the aircraft devices 100, by using the guide 360. The self-propelled module 300-2 may be removably docked to at least one of the payloads 200 described below forming the cluster payload, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 230 that may be provided in the housing 210 of at least one of the payloads 200.

[0201] Furthermore, similar to the self-propelled module 300-1 shown in Figure 3.1, the housing 310 of the self-propelled module 300-2 shown in Figure 3.2 is provided with a wheeled propulsion unit 340 in the form of a wheel base, allowing the self-propelled module 300-2 to move on the surface of the earth (land) or on the surface of a stationary or movable object that is at least partially present in airspace, terrestrial space, water space and / or underwater space. Thus, the wheeled propulsion unit 340 in the self-propelled module 300-2 shown in Figure 3.2 is effectively an additional means of movement provided to the housing 310 of the self-propelled module and further to the unmanned aerial vehicle 320 with its air propeller 325 detachably connected to said housing 310.

[0202] In one embodiment of the present invention, the housing 310 of the self-propelled module 300-2 shown in FIG. 3.2 may be provided with one or more air propulsion units (e.g., 1, 2, 3, 4, 5, 6, 7, 9, 10 or more air propulsion units) that enable the self-propelled module 300-2 to move through the air and are non-removably fixed to the housing 310.

[0203] In another embodiment of the invention, the housing 310 of the self-propelled module 300-2 shown in FIG. 3.2 may be provided with one or more unmanned aerial vehicles 320 having their air propellers 325 (e.g., 1, 2, 3, 4, 5, 6, 7, 9, 10, or more unmanned aerial vehicles) removably secured to the housing 310 using an auxiliary docking module 350. In one variation of this embodiment of the invention, at least one of the unmanned aerial vehicles 320 that may be removably docked to the self-propelled module's housing 310 may be provided with one or more air propellers 325 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more such air propellers 325) that enable the self-propelled module 300-2 to move or fly through the air.

[0204] In yet another embodiment of the present invention, the housing 310 in the self-propelled module 300-2 shown in Figure 3.2 may be provided with one or more unmanned aerial vehicles 320 having their air propellers 325 removably secured to the self-propelled module housing 310, and may further be provided with one or more additional air propulsion units non-removably secured to the self-propelled module housing 310.

[0205] Furthermore, the self-propelled module 300-2 includes a control unit (not shown) mounted inside the housing 310 and configured to control the operation of the self-propelled module 300-2, including overall control of the operation of the unmanned aerial vehicle 320, and in particular, the operation of its air propellers 325.

[0206] The control unit of the self-propelled module 300-2 is configured to issue control commands to at least one or each of the unmanned aerial vehicles 320 to enable the operation of the air propellers 325 of said unmanned aerial vehicles 320, thus enabling the self-propelled module 300-2 to move or fly in the air due to the thrust generated by said activated air propellers 325, wherein the operation of the air propellers 325 of both unmanned aerial vehicles 320, which perform the function of the air propulsion unit of the self-propelled module 300-2, to provide for its substantially simultaneous or parallel operation, increases the carrying capacity of such self-propelled module 300-2.

[0207] Further, the control unit of self-propelled module 300-2 is configured to issue control commands to at least one or each of unmanned aerial vehicles 320 to enable its undocking from housing 310 as a result of withdrawal of said unmanned aerial vehicle 320 from interaction with the corresponding auxiliary docking module 350.

[0208] The control unit of the self-propelled module 300-2 is also configured to present control commands to at least one of the unmanned aerial vehicles 320 present in the airspace or parked on a tarmac (not shown) to enable the unmanned aerial vehicle 320 to be directed towards the self-propelled module 300-2, thereby causing the unmanned aerial vehicle 320 to interact with one of the free auxiliary docking modules 350, thereby detachably docking the directed unmanned aerial vehicle 320 to the housing 310 of the self-propelled module.

[0209] Furthermore, the control unit of the self-propelled module 300-2 is configured to present control commands to the additional mobility means of the self-propelled module 300-2 in the form of the wheeled propulsion unit 340 to operate the self-propelled module to enable the self-propelled module 300-2 to move on the surface of a stationary or movable object that is at least partially present on the surface of the earth (land) or in airspace, terrestrial space, terrestrial space and / or underwater space.

[0210] It should be noted that to enable use of self-propelled module 300-2 as part of one of the systems for moving a payload described herein, the control unit of self-propelled module 300-2 is further configured to communicate with at least one control module of aircraft device 100 and / or with a control module of payload 200 (if such a module is present in the housing of payload 200) via a communications network. Furthermore, the control unit of self-propelled module 300-2 may be further configured to receive and process navigation and / or control commands from a control device that may be part of any one of the systems for moving a payload described herein, and to control operation of self-propelled module 300-2 in response to said navigation and / or control commands, including performance of the functions assigned to the control unit of self-propelled module 300-2.

[0211] Furthermore, the guide 360 ​​provided on the housing 310 of the self-propelled module 300-2 may be adapted to detachably interact with at least one of the docking modules 130 on which the housing 110 of at least one of the aircraft devices 100 forming the cluster aircraft device may be provided, thereby allowing the cluster aircraft device 100 to be mounted or suspended on the guide 360 ​​and allowing the cluster aircraft device to move along the guide 360, and / or may be adapted to detachably interact with at least one of the docking modules 230 on which the housing 210 of at least one of the payloads 200 forming the cluster payload described below may be provided, thereby allowing the cluster payload to be mounted or suspended on the guide 360 ​​and allowing the cluster payload to move along the guide 360.

[0212] In an alternative embodiment of the present invention, the housing 310 of the self-propelled module 300-2 is provided with a primary docking module 330 specific to the self-propelled module 300-1, instead of the guide 360 ​​shown in Figure 3.2, wherein such primary docking module 330 may be detachably interacted with at least one of the guides 140 that may be provided on the housing 110 of at least one of the aircraft devices in the first, second, third and fourth embodiments of the system for moving payloads, and / or may be detachably interacted with at least one of the guides 240 that may be provided on the housing 210 of at least one of the payloads 200 described below, thus enabling the self-propelled module 300-2 to dock with the at least one aircraft device 100 or the at least one payload 200 and allowing the self-propelled module 300-2 to move along the at least one guide. Furthermore, by using a primary docking module 330 that may be provided in the housing 310 of the self-propelled module 300-2 according to this alternative embodiment of the present invention, the self-propelled module 300-2 may be removably docked to at least one of the aircraft devices 100 that form a cluster aircraft device, particularly by having the docking module 330 removably interact with at least one of the guides 140 that may be provided in the housing 110 of the at least one aircraft device 100, and / or may be removably docked to at least one of the payloads 200 described below that form a cluster payload, particularly by having the docking module 330 removably interact with at least one of the guides 240 that may be provided in the housing 210 of the at least one payload 200.

[0213] FIG. 3.3 illustrates a self-propelled module 300-3 comprising a housing 310 having one primary docking module 330 and two unmanned aerial vehicles 320, each equipped with an air propeller 325, each removably docked or connected to the housing 310 by a corresponding one of two auxiliary docking modules 350, and a control unit (not shown) disposed on the housing 310. Accordingly, those skilled in the art will readily appreciate that the self-propelled module 300-3 is configured generally similarly to the self-propelled module 300-1 illustrated in FIG. 3.1, and therefore, the descriptions of the housing 310, primary docking module 330, unmanned aerial vehicles 320, unmanned aerial vehicle air propellers 325, and auxiliary docking module 350, while provided above with reference to the self-propelled module 300-1, should also be construed as referring to the self-propelled module 300-3, including descriptions of specific and alternative embodiments of the functional components of the self-propelled module 300-1. Furthermore, the above functional capabilities of the control unit of self-propelled module 300-1 are equally applicable to the control unit of self-propelled module 300-3.

[0214] However, in contrast to self-propelled module 300-1, in self-propelled module 300-3, the housing is provided with a tracked propulsion unit 342 in the form of a caterpillar track that performs the function of an additional locomotion means that enables the self-propelled module 300-3 to move over terrain (land) with difficult road conditions. In other words, in self-propelled module 300-3, the tracked propulsion unit 342 provided in the housing 310 of the self-propelled module complements the unmanned aerial vehicle 320 with its air propeller 325, which is detachably connected to said housing 310. In turn, the control unit of self-propelled module 300-3 is configured to issue control commands to the additional locomotion means of self-propelled module 300-3 in the form of tracked propulsion unit 342, in order to operate the self-propelled module 300-3 to enable it to move over terrain (land) with difficult road conditions.

[0215] Furthermore, similar to the self-propelled module 300-1, the main docking module 330 provided in the housing 310 of the self-propelled module 300-3 may be configured to detachably interact with at least one of the guides 140 that may be provided in the housing 110 of at least one of the aircraft devices 100 in the first, second, third and fourth embodiments of the payload moving system, and / or may be configured to interact with at least one of the guides 240 that may be provided in the housing 210 of at least one of the payloads 200 described below, thus allowing the self-propelled module 300-3 to be mounted or suspended on the at least one guide and allowing the self-propelled module 300-3 to move along the at least one guide.

[0216] Furthermore, the primary docking module 330 provided in the housing 310 of the self-propelled module 300-3 may be configured to detachably interact with at least one of the guides 140 that may be provided in the housing 110 of at least one of the aircraft devices 100 forming the cluster aircraft device, thereby allowing the self-propelled module 300-3 to be mounted or suspended on the at least one guide 140 and to move along the cluster guide that includes the at least one guide 140 and is associated with the cluster aircraft device, and / or may be configured to interact with at least one of the guides 240 that may be provided in the housing 210 of at least one of the payloads 200 described below that form the cluster payload described below, thereby allowing the self-propelled module 300-3 to be mounted or suspended on the at least one guide 240 and to move along the cluster guide that includes the at least one guide 240 and is associated with the cluster payload.

[0217] In an alternative embodiment of the present invention, a guide 360 ​​may be provided on the housing 310 of the self-propelled module 300-3 instead of the main docking module 330, and such a guide may be configured to detachably interact with at least one of the docking modules 130 that may be provided on the housing 110 of at least one of the aircraft devices 100 in the first and fourth embodiments of the system for moving a payload, and / or may be configured to detachably interact with at least one of the docking modules 230 that may be provided on the housing 210 of at least one of the payloads 200 described below. Thus, in such an alternative embodiment of the present invention, docking of the self-propelled module 300-3 to the at least one aircraft device 100 or the at least one payload 200 is enabled, and the at least one aircraft device 100 or the at least one payload 200 is enabled to move along the guide 360 ​​provided on the housing 310 of the self-propelled module 300-3. Furthermore, in the self-propelled module 300-3 according to this alternative embodiment of the present invention, a guide 360 ​​may be provided on the housing 310, allowing the self-propelled module 300-3 to be removably docked to at least one of the aircraft devices 100 forming the cluster aircraft device, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 130 that may be provided on the housing 110 of the at least one aircraft device 100, and / or to at least one of the payloads 200 described below forming the cluster payload, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 230 that may be provided on the housing 210 of the at least one payload 200.

[0218] FIG. 3.3 also shows self-propelled module 300-4, comprising a housing 310 with one primary docking module 330 and two unmanned aerial vehicles 320, each equipped with an air propeller 325 and each removably docked or connected to the housing 310 by a corresponding one of two auxiliary docking modules 350, and a control unit (not shown) disposed on the housing 310. Accordingly, those skilled in the art will readily appreciate that self-propelled module 300-3 is configured generally similarly to the self-propelled module 300-1 shown in FIG. 3.1, and therefore, the descriptions of the housing 310, primary docking module 330, unmanned aerial vehicles 320, unmanned aerial vehicle air propellers 325, and auxiliary docking module 350, although provided above with reference to self-propelled module 300-1, should also be construed as referring to self-propelled module 300-4, including descriptions of specific and alternative embodiments of the functional components of self-propelled module 300-1. Furthermore, the above-described functional capabilities of the control unit of self-propelled module 300-1 are equally applicable to the control unit of self-propelled module 300-4.

[0219] However, in contrast to self-propelled module 300-1, in self-propelled module 300-3, the housing is provided with a snowmobile propulsion unit 344 in the form of a landing sled that performs the function of additional locomotion allowing self-propelled module 300-3 to move over snowy or icy surfaces (land). In other words, in self-propelled module 300-4, snowmobile propulsion unit 344 provided in self-propelled module housing 310 complements unmanned aerial vehicle 320 with its air propeller 325, which is detachably connected to said housing 310. The control unit of self-propelled module 300-4 is then configured to issue control commands to one or each of unmanned aerial vehicles 320 in order to operate self-propelled module 300-4 in an operating mode that allows it to move over snowy and / or icy terrain using the additional locomotion in the form of snowmobile propulsion unit 344.

[0220] Furthermore, similar to the self-propelled module 300-1, the main docking module 330 provided in the housing 310 of the self-propelled module 300-4 may be configured to detachably interact with at least one of the guides 140 that may be provided in the housing 110 of at least one of the aircraft devices 100 in the first, second, third and fourth embodiments of the payload moving system, and / or may be configured to interact with at least one of the guides 240 that may be provided in the housing 210 of at least one of the payloads 200 described below, thus allowing the self-propelled module 300-4 to be mounted or suspended on the at least one guide and allowing the self-propelled module 300-4 to move along the at least one guide.

[0221] Furthermore, the primary docking module 330 provided in the housing 310 of the self-propelled module 300-4 may be detachably interacted with at least one of the guides 140 that may be provided in the housing 110 of at least one of the aircraft devices 100 forming the cluster aircraft device, thereby allowing the self-propelled module 300-4 to be mounted on or suspended from the at least one guide 140 and to move along the cluster guide that has the at least one guide 140 and is associated with the cluster aircraft device, and / or may be interacted with at least one of the guides 240 that may be provided in the housing 210 of at least one of the payloads 200 described below that form the cluster payload described below, thereby allowing the self-propelled module 300-4 to be mounted on or suspended from the at least one guide 240 and to move along the cluster guide that has the at least one guide 240 and is associated with the cluster payload.

[0222] In an alternative embodiment of the present invention, the housing 310 of the self-propelled module 300-4 may be provided with a guide 360 ​​instead of the main docking module 330, and such a guide may be configured to detachably interact with at least one of the docking modules 130 that may be provided in the housing 110 of at least one of the aircraft devices 100 in the first and fourth embodiments of the system for moving a payload, and / or may be configured to detachably interact with at least one of the docking modules 230 that may be provided in the housing 210 of at least one of the payloads 200 described below. Thus, in such an alternative embodiment of the present invention, docking of the self-propelled module 300-4 to the at least one aircraft device 100 or the at least one payload 200 is possible, and the at least one aircraft device 100 or the at least one payload 200 is possible to move along the guide 360 ​​provided in the housing 310 of the self-propelled module 300-4. Furthermore, in the self-propelled module 300-4 according to this alternative embodiment of the present invention, a guide 360 ​​may be provided on the housing 310, allowing the self-propelled module 300-4 to be removably docked to at least one of the aircraft devices 100 forming the cluster aircraft device, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 130 that may be provided on the housing 110 of the at least one aircraft device 100, and / or to at least one of the payloads 200 described below forming the cluster payload, in particular by having the guide 360 ​​removably interact with at least one of the docking modules 230 that may be provided on the housing 210 of the at least one payload 200.

[0223] Further, as shown in FIG. 3.3, at least one or each of the control units of the self-propelled modules 300-3, 300-4, whose control units are configured to communicate with each other via a communication network, may further enable detachable docking or detachable connection of those self-propelled modules 300-3, 300-4 to each other to form a cluster self-propelled module 300, wherein docking of the self-propelled modules 300-3, 300-4 to each other may be performed by detachably interacting the free auxiliary docking module 350 associated with the self-propelled module 300-3 with the free auxiliary docking module 350 associated with the self-propelled module 300-4. To enable the auxiliary docking modules 350 associated with the self-propelled modules 300-3, 300-4 to detachably interact with each other, the control unit of at least one of the or each of the self-propelled modules 300-3, 300-4 is configured to generate control commands that enable the unmanned aerial vehicles to be undocked one by one from the respective housings 310 of the self-propelled modules 300-3, 300-4 that are docked to each other, and thus, in turn, enable the ejection one by one of the auxiliary docking modules 350 in each of the self-propelled modules 300-3, 300-4 that may be involved or used for the detachable docking or detachable connection of the self-propelled modules 300-3, 300-4 to each other. Each unmanned aerial vehicle 320 may be undocked from the housing 310 of a corresponding one of the self-propelled modules 300-3, 300-4 and directed to at least one parking area to replenish or park the area, and / or to other self-propelled modules that require the unmanned aerial vehicle 320 for its movement through the air to enable detachable docking of the other self-propelled modules to the free auxiliary docking module.Additionally, the control unit of the or each of the self-propelled modules 300-3, 300-4 may be further configured to generate a control command that enables detachable docking of one or more unmanned aerial vehicles 320 to the or each of the housings 310 of the self-propelled modules 300-3, 300-4, provided there is a free auxiliary docking module 350 with which the unmanned aerial vehicles 320 will detachably interact on the housing 310. Additionally, the control unit of the or each of the self-propelled modules 300-3, 300-4 may be further configured to generate a control command that enables undock of the self-propelled modules 300-3, 300-4 that form the cluster self-propelled module 300 to form two separate self-propelled modules 300-3, 300-4, each of which is provided with at least one free auxiliary docking module 350 released as a result of completing the step of undock- ing the self-propelled modules 300-3, 300-4.

[0224] In an alternative embodiment of the present invention, at least one or each of the control units of the self-propelled modules 300-3, 300-4 may enable the performance of the above-mentioned step of undock- ing the unmanned aerial vehicle 320 from the housing 310 of the self-propelled modules 300-3, 300-4, and subsequently enable the performance of the above-mentioned step of removably docking or removably connecting the housings 310 of the self-propelled modules 300-3, 300-4 to each other in response to a control command from a control device that is part of a system that moves a payload to which the self-propelled modules 300-3, 300-4 are associated. Furthermore, in this alternative embodiment of the present invention, such a control device may also enable docking of one or more unmanned aerial vehicles 320 to the housing 310 of at least one or each of the self-propelled modules 300-3, 300-4, provided that there is a free auxiliary docking module 350 with which said housing 310 must be provided, and / or enable undocking of the self-propelled modules 300-3, 300-4 forming the cluster self-propelled module 300 to form two separate self-propelled modules 300-3, 300-4, each having at least one free auxiliary docking module 350 released as a result of completion of the above process of undocked the self-propelled modules 300-3, 300-4.

[0225] In one embodiment of the present invention, cluster self-propelled module 300 may be formed from two or more such self-propelled modules (two, three, four, five, six, seven, eight, nine, ten, or more self-propelled modules), each of which may be of the type described herein or of any other type known in the art, where such cluster self-propelled module may comprise identical self-propelled modules (e.g., only self-propelled module 300-1, only self-propelled module 300-2, only self-propelled module 300-3, or only self-propelled module 300-4) as well as at least partially or completely different self-propelled modules of any combination of the types described herein and known in the art. Thus, the size, type, manufacturing material, and / or the like of the self-propelled modules that are part of any cluster self-propelled module 300 is not specifically limited. Furthermore, a cluster self-propelled module 300 formed from a pair, group, or combination of identical or different self-propelled modules may have any size (including spatial extent) and / or any shape suitable for undocking of at least some or all of the self-propelled modules forming such cluster self-propelled module 300, as well as for detachable docking of one or more additional self-propelled modules, one or more additional cluster self-propelled modules, one or more aircraft devices 100, one or more cluster aircraft devices, one or more payloads 200, and / or one or more cluster payloads to such cluster self-propelled module 300.

[0226] It should also be noted that at least one or each of the control units of the cluster self-propelled module 300, or a control device of a system for moving a payload that includes the cluster self-propelled module 300, may be further configured to enable undock of at least some or all of the self-propelled modules forming the cluster self-propelled module 300. Furthermore, at least one or each of the control units of the cluster self-propelled module 300, or a control device of a system for moving a payload that includes the cluster self-propelled module 300, may be further configured to enable detachable docking of one or more additional self-propelled modules, one or more additional cluster self-propelled modules, one or more of the cluster aircraft devices 100, one or more of the cluster aircraft devices, one or more payloads 200 described below, and / or one or more cluster payloads described below, to such cluster self-propelled module 300.Also, depending on the specific embodiment of the self-propelled module that is part of the cluster self-propelled module 300, the step of detachably docking the cluster self-propelled module 300 to one or more additional self-propelled modules, one or more additional cluster self-propelled modules, one or more of the aircraft devices 100, one or more of the cluster aircraft devices, one or more payloads 200 described below, and / or one or more cluster payloads described below can be performed in two possible ways: 1) docking the one or more additional self-propelled modules, one or more additional cluster self-propelled modules, one or more of the aircraft devices 100, one or more of the cluster aircraft devices, one or more payloads 200 described below, to at least one or each of the main docking modules 330 provided in the housing 310 of the self-propelled module that forms the cluster self-propelled module 300; It should also be noted that this may be achieved by: 1) by detachably interacting with at least one of the guides that may be provided on the housing of the one or more additional self-propelled modules, one or more additional cluster self-propelled modules, one or more of the aircraft devices 100, one or more of the cluster aircraft devices, one or more of the payloads 200 described below and / or one or more of the cluster payloads described below; or 2) by detachably interacting with at least one of the guides 360 that may be provided on the housing of the self-propelled modules that form the cluster self-propelled module 300 with at least one of the primary docking modules that may be provided on the housing of the one or more additional self-propelled modules, one or more of the additional cluster self-propelled modules, one or more of the aircraft devices 100, one or more of the cluster aircraft devices, one or more of the payloads 200 described below and / or one or more of the cluster payloads described below.Therefore, in view of the above description of the self-propelled module and the cluster self-propelled module, the present invention may have an embodiment of a system for moving a payload, which embodiment comprises (i) one or more of the aircraft devices 100 or at least one of the cluster aircraft devices formed from two or more aircraft devices 100, and (ii) one or more of the self-propelled modules, wherein at least one or each of the self-propelled modules is docked to at least one of the aircraft devices 100 or at least one of the aircraft devices 100 forming the at least one cluster aircraft device, respectively, so as to enable movement of the aircraft device and the aircraft device docked thereto along the at least one guide of the self-propelled module by interacting with a docking module of the at least one aircraft device, or to enable movement of the self-propelled module along the guide of the aircraft device by interacting with at least one of the docking modules of the self-propelled module.

[0227] In some embodiments of the present invention, the housing 310 of one of the self-propelled modules, each of which is provided with one or more primary docking modules 330 and which form the cluster self-propelled module 300, may further be provided with a self-propelled module movement unit (not shown) under the control of the control unit of the self-propelled module and configured to move the self-propelled module along a guide associated with the aircraft device 100 or payload 200, or along a cluster guide associated with the cluster aircraft device or a cluster payload as described below. It should be noted that in this embodiment of the present invention, the movement module of the self-propelled module may be configured generally similarly to the payload movement module or guide movement module described above.

[0228] In another embodiment of the present invention, the control unit of one of the self-propelled modules, each provided with one or more main docking modules 330 and forming the cluster self-propelled module 300, is further configured to receive a movement pattern of the self-propelled module from a control device of a system for moving a payload, the system including the cluster self-propelled module 300, and enable the self-propelled module to move according to the movement pattern by a movement module (not shown) of the self-propelled module along a guide associated with the aircraft device 100 or the payload 200, or along a cluster guide associated with the cluster aircraft device or a cluster payload described below, wherein the movement pattern of the self-propelled module may be generated in advance based on data regarding the guide or the cluster guide, and this data may be updated in real time or in real time in response to changes in the structure or architecture of the system for moving a payload, the system being based on the aircraft device 100, the payload 200, the cluster aircraft device or the cluster payload.

[0229] In another embodiment of the present invention, the aircraft device 100 may be used in place of at least one or each of the unmanned aerial vehicles 320 that may be provided in the housing 310 of any one of the self-propelled modules, and the housing 110 of this aircraft device may be provided with a docking module 130 for detachable docking of the aircraft device 100 to the housing 310 of the self-propelled module, wherein, in order to enable movement of the self-propelled module in the air, at least one of the docking modules 130 of the aircraft device must detachably interact with one or more auxiliary docking modules 350 provided in the housing 310 of the self-propelled module so that the aircraft device 100 docked to the self-propelled module performs the functions of an air propulsion unit or unmanned aerial vehicle 320 instead of the unmanned aerial vehicle 320.

[0230] In alternative embodiments of the present invention, the additional locomotion means that may be provided in the housing 310 in one or more of the self-propelled modules may be in the form of at least one of a group of propulsion units including, for example, a sail, a marine propeller, a Voith-Schneider propeller, a bladed propeller, a water jet propulsion unit, a paddle wheel, an oar-type propulsion unit, a fin-type propulsion unit, a fishtail-type propulsion unit, a wheel chassis of one or more wheels, a pneumatic tire-roller propulsion unit, a rotary cutting propulsion unit, a caterpillar-type propulsion unit, a semi-crawler-type propulsion unit, a ski-caterpillar-type propulsion unit, a screw-type propulsion unit, a walking propulsion unit, an electromagnetic propulsion unit, a jet propulsion unit, a flapping wing propulsion unit, a walking wheeled propulsion unit, a square wheel propulsion unit, an oscillatory propulsion unit, an amoeba-type propulsion unit, a cross-section wheel propulsion unit, and an inertial propulsion unit. Furthermore, in other alternative embodiments of the present invention, the housing 310 of one or more self-propelled modules may be provided with two or more identical or different additional mobility means configured in the form of propulsion units of the above group of various types of propulsion units, for example, two identical oar-type propulsion units may be provided, or a combination of one bladed air propeller and one oar-type propulsion unit may be provided.

[0231] Furthermore, in some embodiments of the present invention, at least one or each of one or more auxiliary docking modules 350 that may be provided in the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of skill in the art may be located on one of the sides of the housing 310 of the self-propelled module, separate from the remaining auxiliary docking modules 350. In one variation of this embodiment of the present invention, one or more auxiliary docking modules 350 that may be provided in the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of skill in the art may be located on the same side of the housing 310 of the self-propelled module or on different sides of the housing 310 of the self-propelled module.

[0232] Furthermore, in other embodiments of the present invention, at least one or each of one or more primary docking modules 330 that may be provided in the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be provided on one of the sides of the self-propelled module's housing 310, separate from the remaining primary docking modules. In one variation of this embodiment of the present invention, one or more primary docking modules 330 that may be provided in the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be provided on the same side of the self-propelled module's housing 310 or on different sides of the self-propelled module's housing 310.

[0233] Furthermore, in other embodiments of the present invention, at least one, or each, of the one or more guides 360 that may be provided on the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be located on one of the sides of the housing 310 of the self-propelled module and be separate from the remaining guides 360 of the self-propelled module. In one variation of this embodiment of the present invention, the one or more guides 360 that may be provided on the housing 310 of a self-propelled module according to any one of its embodiments described herein, known in the prior art, or understood by one of ordinary skill in the art may be located on the same side of the housing 310 of the self-propelled module or on different sides of the housing 310 of the self-propelled module.

[0234] payload 4-6 show an exemplary embodiment of a payload 200 in the form of a passenger cabin comprising a housing 210 in the form of a fuselage configured to accommodate people (e.g., one or more passengers and / or a pilot), various living organisms, and / or various types of cargo therein. It is noted that payload 200 may be used to deliver, move, or transport people, various living organisms, and / or various types of cargo (solid, gaseous, liquid, fluid, bulk, viscous, radioactive, chemical cargo, and / or the like) through the air, on land, on water, and / or underwater, and thus the payload may be referred to as a means of transportation, a transporting module, or a transport module.

[0235] In one embodiment of the present invention, the interior space of housing 210 of payload 200 may be provided with a pilot's seat that may accommodate a pilot (not shown) capable of operating a vehicle based on one or more mutually docked payloads 200 by using instrument panels and control elements that may be disposed on said housing 210. Furthermore, in this embodiment of the present invention, the interior space of housing 210 of payload 200 may further accommodate, in addition to the pilot, at least one passenger, at least one luggage item of the passenger, and / or at least one cargo item, wherein said pilot, passenger, cargo item, and passenger luggage item may be accommodated in corresponding spots in a common interior space or may be accommodated in separate areas thereof defined at least in part by one or more partitions, or in separate compartments defined at least in part by one or more partitions.

[0236] In another embodiment of the present invention, a pilot's seat may be provided in the interior space of the payload housing 210 and located in a pilot cabin separated by a partition from the remainder of the interior space of the housing 210, which may in turn be divided by another partition into a passenger compartment in which one or more passenger seats for accommodating passengers may be installed, and a luggage or cargo compartment in which cargo (particularly one or more cargo items) may be accommodated and / or passenger luggage (particularly one or more passenger luggage items) may be accommodated, wherein said cargo items, passenger luggage items and / or passenger seats may be located or attached to the bottom, floor or walls of the housing 210. In one variation of this embodiment of the invention, the passenger compartment may provide, instead of or in addition to passenger seats, the following: (i) rails installed on the side walls, floor and / or ceiling of housing 210 to accommodate passengers sitting or standing in any position in housing 210, for example on the floor of housing 210; (ii) benches, beds or benches fixed to the floor, walls and / or ceiling of housing 210 to accommodate passengers in sitting, standing and / or lying positions thereon; (iii) specialized areas for accommodating disabled persons in sitting, standing and / or lying positions; (iv) specialized areas for wheelchairs used by disabled persons; (v) specialized areas for accommodating baby cots used by infants and (if necessary) specialized areas for companions; and / or (vi) specialized areas for accommodating wheeled stretchers used by bedridden patients for transporting the patient. It should be noted that the number of passengers in the passenger compartment may be from one to several tens or even several hundred without any restrictions, where the number of passengers is substantially limited only by the area of ​​the passenger compartment within the interior space of the housing 210.In another variation of this embodiment of the invention, the cargo compartment of housing 210 may accommodate not only cargo and / or passenger luggage on the floor of fuselage 102, but also allow for their attachment to the cargo compartment of housing 210 using conventional fastening means known in the art, wherein the cargo compartment of housing 210 may further be provided with shelves, hangers, crates, and other carriers attached to the floor, ceiling, and / or side walls of housing 210, such that additional cargo and / or passenger luggage items can be stored in the cargo compartment of housing 210. In another variation of this embodiment of the invention, an area for passenger luggage, including shelves, hangers, crates, and other carriers for storing passenger luggage items, may be provided only in the passenger compartment of housing 210, in addition to the above variation of means for accommodating passengers in the passenger compartment. Those skilled in the art will readily appreciate that cargo items and / or passenger baggage items may also be at least partially secured or secured from the outside of payload housing 210 using suitable fastening means known in the art (e.g., using specialized enclosure-mounted equipment used in airplanes, automobiles, motorcycles, helicopters, bicycles, and the like). It should be noted that the pilot cabin, passenger compartment, and cargo compartments in payload housing 210 may be configured generally similarly to corresponding compartments in airplanes, helicopters, buses, automobiles, ships, motorboats, and the like.

[0237] In yet another embodiment of the present invention, the pilot's seat may be located in a pilot cabin in the interior space of the payload housing 210, separated by a partition from the remainder of the interior space of the housing 210, which in turn may accommodate or secure passengers (e.g., in passenger seats), cargo items, and passenger baggage items in the bottom, ceiling, and / or floor of the housing 210. Further, embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only a pilot and passengers, embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only a pilot and cargo, embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only passengers and cargo, embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only passengers, embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only a pilot in a pilot seat, and embodiments of the present invention are possible in which the interior space of the housing 210 may accommodate only cargo.

[0238] It should be noted that the control elements, which may be installed in the interior space of the housing 210 and defined by the walls of the housing 210 from the inside thereof, in the payloads shown in Figures 3-6, substantially enable control of the payload 200 in a semi-automatic mode (i.e., a combination of manual control by the pilot and automatic control using an autopilot), allowing manual input of at least one control command by a pilot residing in the pilot's seat and monitoring instrument readings on the instrument panel. The control elements of the housing 210 must be communicatively coupled to a control unit (not shown) that is part of the payload 200, described below, to enable each of the pilot's control commands to be presented to the control unit of the payload 200, where some of the pilot's control commands may substantially override corresponding control commands of the control unit of the payload 200 generated by the control unit of the payload 200 while controlling a vehicle based on one or more mutually docked payloads 200 in an automatic mode (i.e., in an autopilot mode). In one embodiment of the present invention, the process of controlling a vehicle based on one or more payloads 200 docked together may not require the participation of a pilot, and therefore the instrument panel, control elements and pilot seat may not be present in the interior space of the payload housing 210, and the control of a vehicle based on one or more payloads 200 docked together may be performed substantially entirely in an automatic mode (i.e., in an autopilot mode) by using the below-described control module of the payload 210, which may then receive control commands from a control device of a system moving the payload, which may include the payload 200.In another embodiment of the present invention, the control elements and / or the instrument panel in the payload housing 210 may be included in a control module of the payload 200, as described below, which may thus enable manual control of the vehicle based on one or more mutually docked payloads 200 simultaneously by a pilot and automatic control of such vehicle in autopilot mode.

[0239] 4 to 6, the payload housing 210 is provided with a docking module 230 fixed on the housing 210 from the outside thereof and configured to interact with at least one guide, which may be in the form of a guide 140 of an aircraft device, a cluster guide 145 of a cluster aircraft device, a guide 360 ​​of a self-propelled module, or a cluster guide of a cluster self-propelled module 300, allowing the payload housing 210 to move along said at least one guide. Thus, the payload 200 may be mounted on or suspended by the docking module 230 on a guide and may move along said guide in one direction or another to occupy an appropriate spatial position relative to the housing of the functional object on which said guide is provided (i.e., for example, relative to the housing 110 of the aircraft device, the housing 110 of at least one of the aircraft devices 100 forming the cluster aircraft device, the housing 310 of the self-propelled module, or the housing 310 of at least one of the self-propelled modules forming the cluster self-propelled module 300).

[0240] In one embodiment of the present invention, the payload housing 210 may be provided with one or more docking modules 230 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more docking modules 230), at least one of which may be configured to interact with at least one guide 140 of the aircraft device, at least one guide 140 of at least one of the aircraft devices 100 forming the cluster aircraft device, at least one guide 360 ​​of the self-propelled module, or at least one guide 360 ​​of at least one of the self-propelled modules forming the cluster self-propelled module 300, allowing the payload housing 210 to move along the at least one guide.

[0241] It should be noted that at least one or each of the docking modules 230 in the payload 200 may be configured generally similar to the docking module 130 of the aircraft device, the docking module 330 of the self-propelled module, or the auxiliary docking module 350 of the self-propelled module.

[0242] Further, as shown in Figures 4 to 6, the payload housing 210 is provided with a guide 240 configured to interact with at least one docking module, which may be in the form of a docking module 130 of an aircraft device, a docking module 130 of one of the aircraft devices forming a cluster aircraft device, a docking module 330 of a self-propelled module, or a docking module 330 of one of the self-propelled modules forming a cluster self-propelled module 300, allowing movement of the functional object to which the docking module is provided (i.e., the aircraft device 100, the cluster aircraft device, the self-propelled module, or the cluster self-propelled module 300) along the guide 240, so that the aircraft device 100, the cluster aircraft device, the self-propelled module, or the cluster self-propelled module 300 can each take an appropriate spatial position relative to the payload housing 210.

[0243] In another embodiment of the present invention, the payload housing 210 may be provided with one or more guides 240 (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more guides 240), at least one of which may be configured to interact with at least one docking module 130 of an aircraft device, at least one docking module 130 of one of the aircraft devices 100 forming the cluster aircraft device, at least one docking module 330 of a self-propelled module, or at least one docking module 330 of one of the self-propelled modules forming the cluster self-propelled module 300, to enable movement of the functional object to which the docking module is provided (i.e., the aircraft device 100, the cluster aircraft device, the self-propelled module, or the cluster self-propelled module 300) along the at least one guide 240, so that the aircraft device 100, the cluster aircraft device, the self-propelled module, or the cluster self-propelled module 300 can each assume an appropriate spatial position relative to the payload housing 210.

[0244] It should be noted that at least one or each of the guides 240 in the payload 200 may be configured generally similar to the guides 140 of the aircraft device or the guides 360 of the self-propelled module.

[0245] In yet another embodiment of the present invention, the payload housing 210 may be provided with only at least one docking module 230 or only at least one guide 240 .

[0246] In one embodiment of the present invention, at least one or each of one or more docking modules 230 that may be provided in housing 210 of payload 200 may be located on one side of payload housing 210 separate from the remaining docking modules 230. In one variation of this embodiment of the present invention, one or more docking modules 230 that may be provided in housing 210 of payload 200 may be located on the same side of payload housing 210 or on different sides of payload housing 210.

[0247] In some other embodiments of the present invention, at least one or each of one or more guides 240 that may be provided on housing 210 in payload 200 may be separate from the remaining ones of the guides 240 and may be located on one of the sides of housing 210 of the payload.

[0248] In another embodiment of the present invention, at least two of the guides 240 that may be provided on the housing 210 of the payload 200 may be separate from the remaining guides 240 and may be located on one of the sides of the housing 210 of the payload.

[0249] In certain other embodiments of the present invention, at least one or each of the guides 240 that may be provided on the housing 210 in the payload 200 may be located on a side of the payload housing 210 other than the side of the payload housing 210 on which the docking module 230 is located.

[0250] In other embodiments of the present invention, at least one or each of the guides 240 that may be provided on the housing 210 of the payload 200 may be configured in a linear or curved manner. In other embodiments of the present invention, at least one or each of the guides 240 that may be provided on the housing 210 of the payload 200 may be configured in the form of a regular or irregular geometric figure.

[0251] The self-propelled module 200 may be provided with a control unit (not shown) mounted in the interior space of the housing 210 to control the docking and / or undock operations of one or more aircraft devices 100, one or more cluster aircraft devices, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more additional payloads 200, and / or one or more cluster payloads formed from two or more payloads 200 docked to each other, to / from the payload housing 210; it should also be noted that one or more docking modules 230 and / or one or more guides 240 may be used for docking at least one of the above functional objects to the housing 210.

[0252] It is also noted that the detachable docking of two or more payloads 200 with each other to form a cluster payload may be performed under the control of at least one or each of the control units of said payloads 200 configured to exchange data with each other via a communication network and / or under the control of a control device of a system moving the payloads 200, which may comprise said payloads 200 docked with each other, wherein to implement the above docking process, docking modules 230 may be used that enter into detachable interaction with each other during docking of the payloads 200 to be docked with each other, and / or guides 240 that enter into detachable interaction with each other (e.g., by means of auxiliary docking modules that may be provided on those guides 240) during docking of the payloads 200 to be docked with each other, and / or guides 240 that enter into detachable interaction with the docking modules 230 during docking of the payloads 200 to be docked with each other. Furthermore, at least one or each of the control units of the payloads 200 docked together to form a cluster payload may be further configured to generate control commands that enable undock of said payloads 200 to form separate payloads 200, each of which is provided with at least one free docking module 230 and / or at least one free guide 240.

[0253] In one embodiment of the present invention, a cluster payload may be formed from two or more of the above-described payloads 200 (e.g., two, three, four, five, six, seven, eight, nine, ten, or more payloads), each of which may be of a type described herein or of any other type known in the art or understood by one of ordinary skill in the art, where such a cluster payload may comprise payloads 200 of the same type (e.g., only a passenger-containing cabin) as well as at least partially or completely different payloads 200 of any combination of types described herein and known in the art (e.g., one passenger-containing cabin and one bag containing bulk cargo). Accordingly, the size, type, material of manufacture, and / or the like of the payloads 200 that are part of any cluster payload is not specifically limited. Furthermore, a cluster payload formed from a pair, group, or combination of identical or different payloads 200 may have any size (including spatial extent or overall dimensions) and / or any shape suitable for undock of at least some or all of the payloads 200 forming such a cluster payload, and for detachable docking of one or more additional payloads 200, one or more additional cluster payloads, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more aircraft devices 100, and / or one or more cluster aircraft devices to such a cluster payload.

[0254] It is also noted that at least one or each of the control units of a cluster payload or a control device of a system for moving a payload comprising said cluster payload may be further configured to enable undock of at least some or all of the payloads 200 forming said cluster payload. Furthermore, at least one or each of the control units of a cluster payload or a control device of a system for moving a payload comprising said cluster payload may be further configured to enable detachable docking to such cluster payload of one or more additional payloads 200, one or more additional cluster payloads, one or more aircraft devices 100, one or more cluster self-propelled modules each formed from one or more aircraft devices 100, one or more self-propelled modules and / or one or more cluster self-propelled modules 300.Depending on the particular embodiment of the payload 200 that is part of the cluster payload, the step of detachably docking the cluster payload to one or more additional payloads 200, one or more additional cluster payloads, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more aircraft devices 100 and / or one or more of the cluster aircraft devices can be performed in two possible ways: 1) by docking the one or more additional payloads 200, one or more additional cluster payloads, one or more self-propelled modules, one or more cluster self-propelled modules 300, one or more aircraft devices 100 to at least one or each of the docking modules 230 provided in the housing 210 of the payload that forms the cluster payload; It should also be noted that this may be achieved by 1) detachably interacting with at least one of the guides that may be provided on the housing of the aircraft device 100 and / or each of the one or more cluster aircraft devices, and / or 2) by detachably interacting with at least one of the guides 240 provided on the housing 210 of the payload forming the cluster payload with at least one of the one or more additional payloads 200, one or more additional cluster payloads, one or more self-propelled modules, one or more cluster self-propelled modules 300, and at least one of the docking modules that may be provided on the housing of the one or more aircraft devices 100 and / or each of the one or more cluster aircraft devices.

[0255] Therefore, in view of the above description regarding payloads and cluster payloads, the present invention may have an embodiment of a system for moving a payload, including: (i) one or more of the aircraft devices 100, or one or more of the cluster aircraft devices each comprising two or more aircraft devices 100 docked to each other; and (ii-1) one or more payloads 200, at least one of which is configured to allow movement of the at least one aircraft device 100 along the at least one guide 240 of the payload by causing at least one of the guides 240 of the at least one payload 200 to interact with at least one docking module 130 of the at least one aircraft device 100, or to allow movement of the at least one aircraft device 100 along the at least one guide 140 of the aircraft device by causing at least one of the docking modules 230 of the payload 200 to interact with at least one guide 140 of the at least one aircraft device 100. (ii-1) one or more payloads 200 docked to at least one of the aircraft devices 100 to enable movement of the payloads 200; or (ii-2) one or more payloads 200, at least one of which is docked to at least one of the cluster aircraft devices 100 to enable movement of the at least one cluster aircraft device along the payload's at least one guide 240 by having at least one of the payloads 200 interact with at least one docking module 130 of the at least one cluster aircraft device, or to enable movement of the at least one payload 200 along the at least one guide 140 of the cluster aircraft device by having at least one of the payloads 200 docked to at least one of the cluster aircraft devices 100.

[0256] Furthermore, in view of the above description regarding payloads and cluster payloads, the present invention may provide yet another embodiment of a system for moving a payload, comprising: (i) one or more payloads 200; and (ii) one or more of the self-propelled modules, at least one of which is removably docked to at least one of the payloads 200 such that at least one of the guides 360 of the self-propelled module interacts with the docking module 230 of the at least one payload 200, thereby enabling movement of the payload 200 along the at least one guide 360 ​​of the self-propelled module, or such that at least one of the docking modules 330 of the self-propelled module interacts with the guide 240 of the at least one payload 200, thereby enabling movement of the at least one self-propelled module along the at least one guide 240 of the payload.

[0257] According to one variation of this embodiment of the present invention, such a system for moving payloads may further comprise one or more additional self-propelled modules that may be removably docked to at least one of the payloads 200, such that at least some of the guides 360 of the docked self-propelled modules form a cluster guide for moving at least one of the payloads 200 along the guides 360.

[0258] According to another variation of this embodiment of the invention, such a system for moving a payload may further comprise one or more additional self-propelled modules, each of which may be docked to at least one of the self-propelled modules already part of said system.

[0259] In particular, Figure 4 shows the process of docking the payload 200 to the wheeled self-propelled module 300-1 by having the payload's guide 240 detachably interact with the self-propelled module's docking module 330, and to the aircraft device 100 by having the aircraft device's guide 140 detachably interact with the payload's docking module 230, thereby resulting in a vehicle configured to move above the ground surface (land) using the wheeled self-propelled module 300-1, and configured to move or fly in airspace using the aircraft device 100 docked to the payload 200.

[0260] Furthermore, Figure 5 shows a process of docking the wheeled self-propelled module 300-1 according to Figure 4 and the payload 200 docked to the aircraft device 100 to the cluster aircraft device formed from two aircraft devices 100 detachably docked to each other and provided with a cluster guide 145 formed from two connected guides 140, by detachably interacting the docking module 130 of the aircraft device with one of the free docking modules 130 of the cluster aircraft device, thereby providing a transportation means configured to move on the ground (land) using the wheeled self-propelled module 300-1 and configured to move or fly in the airspace using the extended cluster aircraft device. As shown in FIG. 5, the resulting vehicle is formed from three aircraft devices 100 docked to each other, with a payload 200 mounted on a self-propelled module 300-1 and removably docked to an extended cluster aircraft device provided with an extended cluster guide formed from three connected guides 140, wherein a docking module 230 provided with a housing for the payload 200 removably interacts with one of the three guides 140 forming the extended cluster guide. Furthermore, as shown in FIG. 5, due to the fact that the docking module 230 on which the payload 200 is mounted or suspended from the extended cluster guide of the vehicle has a detachable interaction with one of the three guides 140 forming the extended cluster guide, the payload 200 may be moved relative to the extended cluster aircraft device by moving the docking module 230 along the extended cluster guide to prepare for a desired position relative to the extended cluster aircraft device to be occupied by the payload 200 together with the self-propelled module 300-1 in order to improve the flight characteristics of the vehicle.

[0261] 6 further illustrates the process of undocking one of the aircraft devices 100 forming the extended cluster aircraft system in the vehicle of FIG. 5 by withdrawing from interaction between the docking module 130 associated with the aircraft device 100 to be undocked and the docking module 130 associated with the aircraft device 100 to which the aircraft device to be undocked as part of the extended cluster aircraft system is immediately removably docked. FIG. 6 also illustrates the process of undocking wheeled self-propelled module 300-1 from payload 200 by withdrawing the self-propelled module's docking module 330 from interaction with the payload's guide 240, such that payload 200 is docked only to the cluster aircraft device provided with cluster guide 145 formed from two connected guides 140 and formed from two mutually docked aircraft devices 100. 6 further illustrates a process of docking another aircraft device 100 to a cluster aircraft device 100 docked to the payload 200 by detachably interacting the docking module 130 of the aircraft device 100 to be docked with one of the free docking modules 130 of the cluster aircraft device to prepare for connection of the guide 140 of the docked aircraft device to the cluster guide 145 of the cluster aircraft device. FIG. 6 also illustrates a process of docking a cluster self-propelled module 300 formed from two docked self-propelled modules 300-3, 300-4 by bringing one of the docking modules 330 of such cluster self-propelled module 300 to the payload guide 240 to prepare for obtaining a modified vehicle configured to travel in airspace.In particular, the resulting modified vehicle shown in Figure 6 is formed from two aircraft devices 100 docked to each other, formed from a payload 200 removably docked to a cluster aircraft device provided with a cluster guide 145 formed from two connected guides 140, wherein a docking module 230 provided with a housing for the payload 200 removably interacts with one of the two guides 140 forming the cluster guide 145.

[0262] FIG. 7.1 is an exemplary illustration of a system comprising a cluster aircraft device with a cluster guide 145 and two payloads 200 configured to travel along the cluster guide 145.

[0263] A cluster aircraft device is formed by a plurality of aircraft devices 100 with guides 140 connected together to form a branching cluster guide 145 .

[0264] Two payloads 200 are mounted on the cluster guide 145 so as to be movable along the cluster guide 145. The first payload 200-1 is a fuselage that accommodates cargo and passengers, and a self-propelled module 300-1 is further docked to the first payload 200-1. An aircraft device 320 is docked to the self-propelled module 300-1.

[0265] The second payload 200-2 is a container, for example a crate for transporting goods and equipment.

[0266] FIG. 7.2 schematically illustrates a non-limiting exemplary illustration of a method for moving payloads 200 (200-1 and 200-2) along a cluster guide 145. FIG. 7.2 further illustrates that at least one or each of the payloads 200 (200-1, 200-2) may be moved to a predetermined position along a branching cluster guide 145 and then undocked with a predetermined portion of the cluster guide 145 to prepare for a change in the movement pattern of the remaining payloads 200 mounted or suspended from the branching cluster guide 145. The undocked portion of the cluster guide 145 may comprise one or more guides 140 of one or more aircraft devices 100 connected to one another.

[0267] Following the undocking of the last payload 200 (200-2), the cluster guide 145 may continue to fly as part of a cluster of aircraft devices 100 with corresponding guides 140, or may be partially or completely separated for assignment to a separate aircraft device 100 with a corresponding separate guide 140. The aircraft devices may then form one or more new cluster guides 145 for transporting one or more payloads 200.

[0268] How to move the payload FIG. 8 is a flow diagram illustrating the main operations of a method 600 for moving a payload, where the method 600 for moving a payload shown in FIG. 8 may be performed using a system 500-1 for moving a payload, which may be implemented according to any one of the relevant embodiments of the invention described herein.

[0269] In particular, the method 600 of transferring a payload shown in FIG. 8 includes the following two main operations or two main steps 610 and 620, where step 610 includes docking at least one of one or more aircraft devices 100 that are part of the first embodiment of the system for transferring a payload, or one or more cluster aircraft devices respectively formed from two or more docked aircraft devices 100 that are part of the first embodiment of the system for transferring a payload, to one or more additional aircraft devices that are part of the first embodiment of the system for transferring a payload, or one or more additional cluster aircraft devices respectively formed from two or more docked aircraft devices 100 that are part of the first embodiment of the system for transferring a payload, by connecting docking modules 130 of the aircraft devices 100 that are docked to each other to form cluster guides 145 from guides 140 of the aircraft devices 100 that are docked to each other, and step 620 includes transferring a payload (including payload 200) into at least one of the docked aircraft devices 100 along the formed cluster guide 145.

[0270] In some embodiments, the docking step is preceded by a rotation of the housing of the aircraft device 100 relative to the guide 140. The angle of rotation may be, for example, between 1° and 30° in the vertical plane and / or between 90°, 45°, 180°, or another angle between 1° and 180° in the horizontal plane. Rotating the housing of the aircraft device 100 may facilitate docking of the guide 140 to the cluster guide 145 and / or optimize the positioning of the air propulsion units to avoid crossing of airflows and / or collisions of components of the aircraft device 100 during docking.

[0271] Following docking, the housing of the aircraft device 100 may be returned to its original position relative to the guide 140 by rotating back by a corresponding angle, or may be further rotated relative to the guide by a different angle, for example, 10° in the vertical plane and / or 30°, 25°, 120°, or another angle between 1° and 180° in the horizontal plane. The value of the rotation angle may be set taking into account the configuration of the cluster aircraft device and the optimized placement of the air propulsion units, the distribution of airflow, and the optimized flight characteristics of the cluster aircraft device. Alternatively, the housing of the aircraft device 100 may remain in the same position relative to the guide as it was set before docking.

[0272] FIG. 9 is a flow diagram illustrating the main operations of a method 650 for transferring payloads, where the method 650 for transferring payloads shown in FIG. 9 includes the following main operations or steps 660: docking each of one or more payloads 200 to at least one of one or more aircraft devices 100 that are part of the first embodiment of the system for transferring payloads, or to one or more cluster aircraft devices 100 formed respectively from two or more aircraft devices 100 docked to each other that are part of the first embodiment of the system for transferring payloads, by having at least one of the guides 240 of the payloads 200 interact with a docking module 130 of the at least one aircraft device 100 to enable movement of the aircraft device 100 and the aircraft device 100 docked thereto along the at least one payload guide 240, or by having at least one of the docking modules 230 of the payloads interact with a guide 140 of the at least one aircraft device to enable movement of the payload 200 along the guide 140 of the aircraft device.

[0273] FIG. 10 is a flow diagram illustrating the main operations of a method 700 for transferring a payload, where the method 700 for transferring a payload shown in FIG. 10 includes the following main operation or step 710: guiding each of the one or more self-propelled modules to at least one of the one or more aircraft devices 100 that are part of system 500-1 or the first embodiment of a system for transferring a payload, or to one or more cluster aircraft devices each formed from two or more aircraft devices 100 docked together that are part of the first embodiment of a system for transferring a payload; docking the aircraft device 100 along the at least one guide 360 ​​of the self-propelled module by interacting with at least one of the docking modules 130 of the at least one aircraft device 100, thereby enabling movement of the aircraft device 100 and the aircraft device 100 docked thereto, or docking the aircraft device 100 along the at least one guide 360 ​​of the self-propelled module by interacting with at least one of the docking modules 330 of the self-propelled module by interacting with the guide 140 of the at least one aircraft device 100, thereby enabling movement of the self-propelled module along the guide 140 of the aircraft device.

[0274] FIG. 11 is a flow diagram illustrating the major operations of a method 750 for moving a payload, where the method 750 for moving a payload shown in FIG. 11 includes the following major operations or steps 760: docking one or more of the self-propelled modules to at least one of one or more payloads 200, respectively, to enable movement of the payload 200 along the at least one guide 360 ​​of the self-propelled module by having at least one of the guides 360 of the self-propelled module interact with the docking module 230 of the at least one payload 200, or to enable movement of the self-propelled module along the at least one guide 240 of the payload by having at least one of the docking modules 330 of the self-propelled module interact with the guide 240 of the at least one payload 200.

[0275] In some embodiments, the docking step is preceded by a rotation of the housing of the self-propelled module 300 relative to the guide 360. The angle of rotation may be, for example, between 1° and 30° in the vertical plane and / or 90°, 45°, 180°, or another angle between 1° and 180° in the horizontal plane. Rotating the housing of the self-propelled module 300 may facilitate docking of the guide 360 ​​to the payload 200 and / or optimize the positioning of the air propulsion unit to avoid crossing of airflows with the aircraft device 100 and / or collisions of components of the self-propelled module 300 with the payload 200 during docking.

[0276] Following docking, the housing of the self-propelled module 300 may be returned to its original position relative to the guide 360 ​​by rotating back by a corresponding angle, or may be further rotated relative to the guide by a different angle, for example, 10° in the vertical plane and / or 30°, 25°, 120°, or another angle ranging from 1° to 180° in the horizontal plane. The value of the rotation angle may be set taking into account the system configuration and optimized placement of the air propulsion units, the airflow distribution of the self-propelled module and the aircraft device, and the optimized flight characteristics of the system or its separate components. Alternatively, the housing of the aircraft device 300 may remain in the same position relative to the guide 360 ​​as it was set in before docking.

[0277] 12 is a flow diagram illustrating major operations of a method 800 for transferring payloads, where the method 800 for transferring payloads shown in FIG. 12 includes two major operations or two major steps 810 and 820. Step 810 in method 800 includes docking at least one of system 500-2 or one or more aircraft devices 100 that are part of the second embodiment of the system for transferring payloads, or one or more cluster aircraft devices formed respectively from two or more docked aircraft devices 100 that are part of the second embodiment of the system for transferring payloads, to one or more additional aircraft devices 100 that are part of the second embodiment of the system for transferring payloads, or to one or more additional cluster aircraft devices formed respectively from two or more docked additional aircraft devices 100 that are part of the second embodiment of the system for transferring payloads, by removably connecting guides 140 of the aircraft devices 100 to be docked to each other to form cluster guides 145 from the guides 140 of the aircraft devices 100 to be docked to each other. Step 820 in method 800 is to move a payload (which may be payload 200 in particular) along the formed cluster guide 145 to at least one of the aircraft devices 100 docked to each other.

[0278] In some embodiments, before the movement of the payload 200 (the movement step), a rotation of the payload with respect to the cluster guide 145 is performed. The rotation angle may be, for example, between 1° and 30° in the vertical plane and / or 90°, 45°, 180°, or another angle between 1° and 180° in the horizontal plane. Rotation of the payload 200 may facilitate easier movement of the payload 200 and / or optimize the positioning of the payload 200 with respect to the cluster guide 145 and the housing of the aircraft device 100, and may promote passenger comfort while inside the payload 200 or optimized flight characteristics of the system, e.g., reduced aerodynamic drag.

[0279] Following the movement of the payload 200, it may be returned to its original position relative to the cluster guide 145 by rotating back a corresponding angle, or it may be further rotated relative to the cluster guide 145 by a different angle, e.g., 10° in the vertical plane and / or 30°, 25°, 120°, or another angle ranging from 1° to 180° in the horizontal plane. The value of the rotation angle may be set taking into account the system configuration and optimized placement of the payload 200 relative to the air propulsion unit, or optimized flight characteristics of the system, e.g., reduced aerodynamic drag, and / or optimized flight characteristics of the system or its individual components. Alternatively, the payload 200 may remain in the same position relative to the cluster guide 145 as was set prior to the start of movement along the cluster guide 145. Furthermore, during the course of movement along the cluster guide 145, the payload 200 may perform one or more rotations relative to the cluster guide 145, where the angle of each subsequent rotation may match or differ from the previous one.

[0280] 13 is a flow diagram illustrating major operations of a method 850 for transferring payloads, where the method 850 for transferring payloads shown in FIG. 13 includes two major operations or two major steps 860, 870. Step 860 in method 850 includes docking at least one of one or more aircraft devices 100 that are part of the third embodiment of the system for transferring payloads or one or more cluster aircraft devices formed respectively from two or more docked aircraft devices 100 that are part of the third embodiment of the system for transferring payloads, to one or more additional aircraft devices 100 that are part of the third embodiment of the system for transferring payloads or to one or more additional cluster aircraft devices formed respectively from two or more docked additional aircraft devices 100 that are part of the third embodiment of the system for transferring payloads, by detachably connecting guides 140 of the aircraft devices 100 that are docked to each other to form cluster guides 145 from the guides 140 of the aircraft devices 100 that are docked to each other. Step 870 in method 850 includes simultaneously moving at least a portion of a cluster guide 145 formed on one or more housings of the aircraft devices 100 docked to each other and moving a payload (including payload 200) along the formed cluster guide 145 into at least one of the aircraft devices 100 docked to each other.

[0281] 14 is a flow diagram illustrating major operations of a method 900 for transferring payloads, where the method 900 for transferring payloads shown in FIG. 14 includes two major operations or two major steps 910 and 920. Step 910 in method 900 includes docking at least one of one or more aircraft devices 100 that are part of the fourth embodiment of the system for transferring payloads or one or more cluster aircraft devices formed respectively from two or more docked aircraft devices 100 that are part of the fourth embodiment of the system for transferring payloads, to one or more additional aircraft devices 100 that are part of the fourth embodiment of the system for transferring payloads or to one or more additional cluster aircraft devices formed respectively from two or more docked additional aircraft devices 100 that are part of the fourth embodiment of the system for transferring payloads, by detachably connecting docking modules 130 of the aircraft devices 100 that are docked to each other to form cluster guides 145 from guides 140 of the aircraft devices 100 that are docked to each other. Step 920 in method 900 includes simultaneously moving at least a portion of the formed cluster guide 145 relative to one or more housings 210 of the aircraft devices 100 docked to each other, and moving a payload (including payload 200) along the formed cluster guide 145 into at least one of the aircraft devices 100 docked to each other.

[0282] The provided exemplary embodiments, examples, and descriptions of the invention serve only to facilitate understanding of the principles of the claimed invention and are not limiting. Other possible embodiments of the invention, or modifications or improvements to the above-described embodiments of the invention, will suggest themselves to those skilled in the art after reading the above description. The scope of the present invention is limited only by the appended claims.

Claims

1. 1. A system for moving a payload, comprising: two or more aircraft devices, each having a housing provided with one or more air propulsion units designed to enable the aircraft device to be moved through airspace, each of the two or more aircraft devices provided with one or more guides, each of the guides of the aircraft devices designed to allow a payload to be movably mounted or suspended on the guide; at least one of the guides of the aircraft device is further designed to be removably connected or docked to one or more guides of other aircraft devices by one or more docking modules to form a cluster guide; the system further comprises a control module configured to enable the aircraft devices to be removably connected or docked to one another by the docked guides to form a cluster aircraft device; The system for moving a payload further comprises a payload movement module controlled by the control module and designed to engage the mounted or suspended payload to enable the payload to be controllably moved along the formed cluster guide to a required position on the cluster guide relative to at least one of the docked aircraft devices.

2. The system of claim 1 , wherein at least some of the guides of the aircraft devices are arranged parallel to one another, perpendicular to one another, and / or at an angle relative to one another.

3. 2. The system of claim 1, wherein at least one of the guides of the aircraft device is mounted on a rotation device mounted to the housing of the aircraft device to allow the at least one guide to rotate through a predetermined rotation angle.

4. 2. The system of claim 1, wherein at least one of the guides of the aircraft device is rotatably mounted on the housing of the aircraft device, the housing of the aircraft device further comprising a drive device controlled by the control module and operably coupled to the at least one guide or configured to interact with the at least one guide to enable rotation of the at least one guide by a predetermined rotation angle.

5. 2. The system of claim 1, wherein at least one of the guides of the aircraft device is configured to be telescopic, and the housing of the aircraft device further comprises a drive device controlled by the control module and operably coupled to or configured to interact with the at least one guide to enable at least partial extension of the guide.

6. The system of claim 5 , wherein the control module is further configured to present a control command to the actuation device to enable at least partial retraction of the extended guide.

7. The system of claim 1 , wherein the housing is configured to tilt or rotate at a predetermined angle relative to at least one of the guides.

8. The system of claim 1 , wherein the housing is configured to change the shape of the housing and / or the dimensions of the housing.

9. The system of claim 1 , wherein at least one of the guides is configured to be at least partially bendable or flexible.

10. The system of claim 1 , wherein at least one of the guides is configured to be linear or curved.

11. 10. The system of claim 1, wherein at least one of the guides is configured in a T-shape, a Z-shape, an X-shape, a Y-shape, an inverted U-shape, an E-shape, a U-shape, an N-shape, an L-shape, an F-shape, an O-shape, an H-shape, a V-shape, an inverted L-shape, a C-shape, or a W-shape.

12. 2. The system of claim 1, wherein at least one of the guides is configured to enable the movement of the payload along at least one of three coordinate axes or is configured to move relative to the housing of the aircraft device to enable the movement of the payload mounted or suspended on the at least one guide relative to the housing of the aircraft device.

13. The housing includes: one or more controllable work members are further provided, the controllable work members being configured to interact with the payload when actuated to enable loading or suspension of the payload on at least one of the guides and to enable movement of the payload along the at least one guide during actuation of the work members; 10. The system of claim 1, further comprising a drive device controlled by the control module and operably coupled to the controllable work members to enable the actuation of at least one of the controllable work members in response to control commands of the control module.

14. 2. The system of claim 1, wherein the guides of the aircraft device include two or more parallel guides designed to mount or suspend the payload on the parallel guides and move the payload substantially linearly along the parallel guides.

15. 2. The system of claim 1, wherein at least one of the guides comprises two or more portions, at least one of the portions configured to be movable, and the housing further comprises a drive device controlled by the control module and operably coupled to the at least one movable portion of the guide to enable the movement of the at least one guide relative to the remaining portions of the guide to change the shape of the at least one guide.

16. The guide of the aircraft device two separate guides and a movable connecting guide, each of the two separate guides and the movable connecting guide configured to mount or suspend a payload on the guide and move the mounted payload along the guide; 2. The system of claim 1, wherein the housing of the aircraft device further comprises a drive device controlled by the control module and operably coupled to the movable connecting guide to enable the guide to move to connect the guides to one another.

17. The system of claim 1 , wherein the payload movement module is a robotic manipulator or gripper configured to grasp and move the payload along the formed cluster guide.

18. 2. The system of claim 1, wherein the payload movement module is a pusher configured to momentarily apply a force to the payload during actuation of the pusher to move the payload along the cluster guide, and the housing of the aircraft device further comprises a drive device controlled by the control module and operably coupled to the pusher to actuate the pusher.

19. 2. The system of claim 1, wherein the housing of the aircraft device is further provided with one or more weight sensors, each of the weight sensors configured to measure a weight of the payload at one of spots of a load-bearing structure for accommodating a payload, the weight sensors configured to provide the weight sensor readings to the control module, and the control module enables control commands to be provided to the payload movement module to move the payload along the cluster guide in response to the weight sensor readings.

20. The system of claim 1 , wherein the payload movement module is movably mounted on at least one additional guide for moving the payload.

21. The system of claim 1 , wherein the payload transfer module is further configured to remove the payload from the guide.

22. The system of claim 1 , wherein at least one of the guides is further configured to remove the payload mounted or suspended on the at least one guide.

23. The system of claim 14 , wherein the at least one guide comprises one or more payload detachment spots.

24. The system of claim 1 , wherein at least one of the docking modules is movably mounted to at least one of the guides.

25. 2. The system of claim 1, wherein at least one of the guides is further provided with a gripping mechanism designed to grip a payload to allow the payload to be mounted or suspended on the at least one guide and designed to move along the at least one guide to allow the gripped payload to be moved along the at least one guide.

26. 26. The system of claim 25, wherein the gripping mechanism is designed to be rotated to allow rotation of the gripped payload relative to the at least one guide.

27. 2. The system of claim 1, wherein at least one of the guides is movable, and the housing of the aircraft device further comprises a guide movement module controlled by the control module and designed to operatively interact with the at least one movable guide to enable the movable guide and the payload mounted or suspended on the at least one movable guide to be moved together.

28. 10. The system of claim 1, wherein the control module is further configured to present control commands to the payload transfer module to enable transfer of the payload from the aircraft device being undocked to at least one of the remaining aircraft devices docked to each other while the aircraft devices are in airspace.

29. 2. The system of claim 1, wherein the control module is further configured to present control commands to the payload transfer module to enable receipt of the payload from at least one of the remaining aircraft devices docked to each other while the aircraft device is in airspace and to enable transfer of the received payload into the aircraft device being undocked.

30. 30. The system of claim 28, wherein the control module further enables directing an undocked aircraft device to a parking spot to replenish an area within the aircraft device.

31. The system of claim 30 , wherein the control module further enables the docking of the aircraft device having a replenished region to one of the docked aircraft devices.

32. 32. The system of claim 31 , wherein the control module is further configured to provide control commands to the payload transfer module of the docked aircraft device to enable the transfer of the payload from the docked aircraft device to at least one of the docked aircraft devices.

33. 30. The system of claim 28, wherein at least two of the aircraft devices that are docked to each other are further provided with additional guides, and the control module further enables the movement of the payload transfer module along an additional cluster guide formed from the additional guides when the aircraft devices are docked to each other.

34. The system of claim 1 , wherein the docking modules are provided at adjacent ends of the docked guides.

35. 35. The system of claim 34, wherein each of the docked guides further includes an additional docking module at an opposite end of the docked guide, the additional docking module designed to dock to a guide of an additional aircraft device.

36. 35. The system of claim 34, wherein at least portions of the docked guides of the aircraft devices are positioned perpendicular to each other or at an angle to each other, and the docking modules provided at the ends of the docked guides are designed to be removably connected or docked to docked guides of two or more other aircraft devices so as to define a path of movement of the payload.

37. 2. The system of claim 1, wherein at least one of the docked guides is designed to be used to load or suspend a first payload on the guide and allow the first payload to be moved along the at least one guide, and at least one of another of the docked guides is designed to be used to load or suspend a second payload on the guide and allow the second payload to be moved along the at least one other guide.

38. 10. The system of claim 1, wherein the housing of the aircraft device is further provided with one or more docking modules, each of the docking modules designed to enable the housing of the aircraft device to be removably connected to the housing of another aircraft device.

39. 1. A method of moving a payload, comprising: releasably docking at least one of the guides of a first aircraft device to at least one of the guides of a second aircraft device in the airspace under control of a control module, forming a cluster guide with the docked guides, and forming a cluster aircraft device with the first and second aircraft devices docked to each other by the docked guides; providing engagement of a payload transfer module controlled by the control module with a payload mounted or suspended on at least one of the guides of the formed cluster guides, to move the payload along the cluster guide to a requested position on the cluster guide relative to at least one of the docked aircraft devices; A method for moving a payload, including:

40. 40. The method of claim 39, further comprising rotating the payload relative to the cluster guide prior to the movement of the payload on the cluster guide.

41. docking, under control of a control module, in the airspace, a guide of an additional aircraft device to be removably docked to a docking module disposed at one of the opposite open ends of the formed cluster guide to form an extended cluster aircraft device comprising an extended cluster guide and the previously formed cluster aircraft device and the additional aircraft device; moving the payload along the extended cluster guide of the extended cluster aircraft device under control of the control module; 40. The method of claim 39, further comprising:

42. 40. The method of claim 39, further comprising docking the housing of the aircraft device with the docking module provided on a housing of a corresponding docked aircraft device.

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