Extended time regenerative power supply for Unmanned Aerial Vehicle (UAV) platforms

Abstract

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

Description

Technical Field

[0001] The present disclosure relates generally to unmanned aerial vehicles (UAVs), and more particularly to systems for creating and operating a swarm of individual UAVs to deliver a payload to a predetermined destination. Background Art

[0002] Companies are beginning to use unmanned aerial vehicles (UAVs) to deliver products to their customers. In some cases, companies use multiple UAVs arranged in clusters to deliver their products. These "clustered UAVs" are particularly beneficial because they allow companies to distribute products as "payloads" to various destination locations in an efficient and cost-effective manner. Examples of such payloads include, but are not limited to, packages, boxes, and bags, and can be of any shape, size, and weight as long as the UAV cluster can carry them.

[0003] Typically, consumers interact with a centralized marketplace to order and purchase products that are ultimately delivered as a payload to a desired destination location. The UAV swarm is loaded with payloads at a warehouse and flies to a desired delivery location, such as a customer's home or business. In some cases, an individual UAV may temporarily detach from the UAV swarm in flight and deliver a payload before re-docking with the UAV swarm for a return flight.

[0004] Current market trends are beginning to replace centralized marketplaces with multiple virtual online marketplaces, each of which may or may not be associated with a corresponding warehouse. Thus, customer orders can be filled at any given warehouse and shipped to the corresponding destination location. While decentralization is beneficial, these practices also increase the importance of delivering payloads in a cost-effective manner. Summary of the invention

[0005] Aspects of the present disclosure relate to creating and operating a swarm of unmanned aerial vehicles (UAVs) to carry and autonomously deliver one or more payloads to one or more predetermined destination locations.

[0006] In one aspect, the present disclosure provides an unmanned aerial vehicle (UAV) cluster, comprising a plurality of mission UAVs arranged in a cluster, wherein a group of one or more mission UAVs are configured for controlled independent flight. A plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern, the selected distribution pattern distributing the core UAVs according to predefined mission characteristics of the UAV cluster.

[0007] In one aspect, each core UAV and each mission UAV in the UAV cluster are of the same size and are congruent.

[0008] In one aspect, one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on predefined mission characteristics.

[0009] In one aspect, the predefined mission characteristics include one or more of the following: the distance of the destination location from the launch location of the UAV cluster, the type of mission that a group of one or more mission UAVs are configured to perform, the number of predetermined intermediate waypoints of the UAV cluster between the launch location of the UAV cluster and the destination location, and the load characteristics of the payload carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0010] In one aspect, one of the multiple core UAVs to be distributed throughout the cluster includes one of: a propulsion UAV configured to enhance the propulsion provided by each individual mission UAV in the cluster; a fuel storage UAV including a fuel storage device for storing fuel and configured to increase the fuel consumed by each individual mission UAV in the cluster; a power UAV configured to increase the electrical power consumed by each individual mission UAV in the cluster; and a sensor UAV including a sensor.

[0011] In one aspect, the sensor includes a camera configured to capture an image of the destination location.

[0012] In one aspect, the sensor comprises a radar.

[0013] In one aspect, the first core UAV is configured to control the operation of each of the other core UAVs.

[0014] In one aspect, the second core UAV is configured to control the operation of one or more of the plurality of task UAVs. In such an aspect, the second core UAV is different from the first core UAV and is controlled by the first core UAV.

[0015] In one aspect, the present disclosure provides an unmanned aerial vehicle (UAV) system comprising: a plurality of individual UAVs arranged in a cluster. In these aspects, the plurality of individual UAVs comprises a plurality of mission UAVs, wherein a group of one or more mission UAVs are configured for controlled independent flight, and a plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern, wherein the selected distribution pattern distributes the core UAVs within the cluster according to predefined mission characteristics of the UAV cluster.

[0016] In one aspect, the selected distribution pattern defines a corresponding position for each core UAV within the UAV cluster.

[0017] In one aspect, each UAV in a UAV cluster comprises the same size and is identical.

[0018] In one aspect, one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on predefined mission characteristics.

[0019] In one aspect, the predefined mission characteristics include one or more of the following: the distance of the destination location from the launch location of the UAV cluster, the type of mission that a group of one or more mission UAVs are configured to perform, the number of predetermined intermediate waypoints of the UAV cluster between the launch location of the UAV cluster and the destination location, and the load characteristics of the payload carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0020] In one aspect, the multiple core UAVs include: a first core UAV, which is configured to control the operation of each of the other core UAVs in the cluster; and a second core UAV, which is different from the first core UAV and is configured to control the operation of the multiple task UAVs.

[0021] In one aspect, the present disclosure provides a method of operating an unmanned aerial vehicle (UAV) cluster. In these aspects, the method includes: determining a mission characteristic of a mission assigned to a UAV cluster; and according to the mission characteristic: arranging a plurality of mission UAVs to form the UAV cluster, wherein one or more of the mission UAVs are configured for controlled independent flight; selecting a distribution pattern of a plurality of core UAVs, wherein the distribution pattern identifies a corresponding position in the UAV cluster for each of the plurality of core UAVs; and distributing the plurality of core UAVs throughout the UAV cluster according to the distribution pattern.

[0022] In one aspect, the method further includes selecting one or both of the number and type of core UAVs to be distributed throughout the UAV cluster based on mission characteristics.

[0023] In one aspect, each of the mission UAVs and the core UAVs forming the UAV cluster comprises the same size and is identical. In these aspects, selecting the distribution pattern of the plurality of core UAVs based on the mission characteristics comprises selecting the distribution pattern based on one or more of the following: the distance of a destination location from a launch location of the UAV cluster; the type of mission that the group of one or more mission UAVs is configured to perform; the number of intermediate waypoints between the launch location of the UAV cluster and the destination location of the UAV cluster; and the characteristics of a payload carried by the UAV cluster and delivered by the one or more mission UAVs.

[0024] In one aspect, the plurality of mission UAVs and the plurality of core UAVs are releasably coupled to each other in the UAV cluster. In these aspects, the method further comprises communicatively connecting each of the core UAVs to one or more of the plurality of mission UAVs.

[0025] In one aspect, the method further includes designating the first core UAV as a master core UAV, controlling one or more second core UAVs using the master core UAV, and controlling one or more of the task UAVs using at least one of the second core UAVs.

[0026] In one aspect, the present disclosure provides a self-aligning docking mechanism for an unmanned aerial vehicle (UAV). In these aspects, the self-aligning docking mechanism includes: an alignment circuit configured to generate an alignment signal representing the current alignment of the UAV with the proximal UAV in response to detecting an indicator signal emitted by a proximal UAV; a docking claw configured to clamp a corresponding docking claw provided on the proximal UAV; and a docking control circuit configured to align the docking claw with the corresponding docking claw on the proximal UAV based on the alignment signal, and control the docking claw to clamp the corresponding docking claw to dock the UAV to the proximal UAV.

[0027] In one aspect, the self-aligning docking mechanism further comprises an extendable arm configured to releasably attach to a corresponding extendable arm on the proximal UAV.

[0028] In one aspect, the extendable arm includes a magnetic component configured to releasably connect to a corresponding magnetic component disposed on the corresponding extendable arm of the proximal UAV.

[0029] In one aspect, the self-aligning docking mechanism further comprises a servo drive operably connected to both the docking claw and the docking control circuit. In order to align the docking claw with the corresponding docking claw, the docking control circuit is configured to: determine whether the docking claw is aligned with the corresponding docking claw in response to analyzing the alignment signal; and send an alignment message to the servo drive in response to determining that the docking claw and the corresponding docking claw are not aligned.

[0030] In one aspect, to align the docking jaw with the corresponding docking jaw, the servo drive is configured to: generate one or more alignment commands in response to receiving the alignment message from the docking control circuit; and rotate the docking jaw about a longitudinal axis using the one or more alignment commands.

[0031] In one aspect, the engagement claw is configured to move between an open state undocked from the corresponding engagement claw and a closed state engaged with the corresponding engagement claw.

[0032] In one aspect, the docking jaws include opposing first and second grippers comprised of a shape memory alloy. In these aspects, the docking control circuit is further configured to: apply a first voltage to each of the first and second grippers to move the docking jaws to the open state, wherein the first voltage meets or exceeds a threshold; and reduce the first voltage applied to the first and second grippers to a second voltage to move the docking jaws to the closed state, wherein the second voltage is less than the threshold.

[0033] In one aspect, to reduce the first voltage to the second voltage, the docking control circuit is configured to stop applying the first voltage to the first and second clampers.

[0034] In one aspect, the present disclosure provides a method for docking a first unmanned aerial vehicle (UAV) and a second UAV. The method implemented by the first UAV includes: during a first docking phase, in response to detecting an indicator signal emitted by the second UAV, generating an alignment signal indicating a current alignment state between the first and second UAVs. During a second docking phase, the method includes aligning a docking claw of the first UAV to a corresponding docking claw of the second UAV based on the alignment signal, and docking the first UAV and the second UAV, wherein the docking includes controlling the docking claw of the first UAV to clamp the corresponding docking claw of the second UAV.

[0035] In one aspect, during the first docking stage, the method further includes releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0036] In these aspects, releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV includes magnetically coupling the arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0037] In one aspect, aligning the docking claw of the first UAV to the corresponding docking claw of the second UAV based on the alignment signal includes: rotating the docking claw of the first UAV about a longitudinal axis in response to determining that the first UAV and the second UAV are not aligned.

[0038] In one aspect, the docking jaws of the first UAV include opposing first and second grippers comprised of a shape memory alloy. In these aspects, the method further includes applying a first voltage to each of the first and second grippers to open the docking jaws, wherein the first voltage meets or exceeds a threshold, and reducing the first voltage applied to the first and second grippers to a second voltage to close the docking jaws, wherein the second voltage is less than the threshold.

[0039] In one aspect, reducing the first voltage to the second voltage includes ceasing to apply the first voltage to the first and second clampers.

[0040] In one aspect, the present disclosure provides a non-transitory computer-readable medium storing software instructions, which, when executed by a processing circuit on a first unmanned aerial vehicle (UAV), causes the processing circuit to: during a first docking phase, in response to detecting an indicator signal emitted by the second UAV, generate an alignment signal indicating a current alignment state between a docking claw of the first UAV and a corresponding docking claw of a second UAV. During a second docking phase, the software instructions executed by the processing circuit cause the processing circuit to: align the docking claw of the first UAV with the corresponding docking claw of the second UAV based on the alignment signal, and dock the first and second UAVs by controlling the docking claw of the first UAV to clamp the corresponding docking claw of the second UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The various aspects of the present disclosure are illustrated by way of example and are not limited by the accompanying figures, in which like references indicate similar elements.

[0042] Figure 1 is a perspective view illustrating a UAV cluster including a plurality of interconnected unmanned aerial vehicles (UAVs) according to one aspect of the present disclosure.

[0043] Figure 2 is a perspective view of a cluster of UAVs in flight and delivering one or more payloads to corresponding delivery locations configured in accordance with aspects of the present disclosure.

[0044] Figure 3A-3B is a perspective view showing a mission UAV configured according to one aspect of the present disclosure.

[0045] Figure 4A-4B is a perspective view showing a fuel augmentation UAV configured in accordance with one aspect of the present disclosure.

[0046] Figure 5A-5B is a perspective view showing a propulsion-augmented UAV configured according to one aspect of the present disclosure.

[0047] Figure 6A-6B is a perspective view showing a power augmentation UAV configured according to one aspect of the present disclosure.

[0048] Figure 7A-7B is a perspective view showing a sensor UAV configured to sense the surrounding environment according to one aspect of the present disclosure.

[0049] Figure 8 is a functional block diagram illustrating some components of a UAV control circuit according to one aspect of the present disclosure.

[0050] Fig. 9 is a flow chart illustrating a method for creating and configuring a UAV cluster according to the tasks of the UAV cluster according to one aspect of the present disclosure.

[0051] Fig.10 is a functional block diagram illustrating components of a UAV in a UAV cluster according to one aspect of the present disclosure.

[0052] Fig.11 is a perspective view of a cluster of UAVs configured in accordance with another aspect of the present disclosure.

[0053] Fig.12 is a perspective view of a cluster of UAVs configured in accordance with another aspect of the present disclosure.

[0054] Fig.13 is a perspective view of a cluster of UAVs configured in accordance with another aspect of the present disclosure.

[0055] Fig.14A is a functional block diagram illustrating a self-aligning docking mechanism in an open state according to one aspect of the present disclosure.

[0056] Fig. 14B is a functional block diagram illustrating a self-aligning docking mechanism in a closed state according to one aspect of the present disclosure.

[0057] Figures 15A-15B An engagement claw configured according to one aspect of the present disclosure is shown viewed along sections AA and BB, respectively.

[0058] Fig.16 is a flow chart illustrating a method of docking a UAV including a self-aligning docking mechanism according to one aspect of the present disclosure.

[0059] Fig.17 is a functional block diagram illustrating a docking jaw servo control circuit configured in accordance with one aspect of the present disclosure.

[0060] Fig.18is a functional block diagram of power source components configured to generate power and distribute the power to one or more UAVs in a UAV cluster according to one aspect of the present disclosure. DETAILED DESCRIPTION

[0061] Aspects of the present disclosure provide an adaptive, mission-configurable and scalable platform architecture for dynamically creating and operating clusters of individual unmanned aerial vehicles (UAVs) or "drones". These "UAV clusters" are used, for example, to carry one or more payloads and deliver the one or more payloads to one or more different destination locations. When compared to using a separate UAV to deliver a payload, the platform of the present disclosure beneficially allows users to create and operate UAV clusters in a more cost-effective manner. In this way, the UAV clusters of the present disclosure can achieve efficient flight performance while significantly increasing payload capacity and range.

[0062] In one aspect of the present disclosure, each individual UAV is physically and communicatively interconnected to form an overall "UAV cluster". A given UAV in a UAV cluster can perform a variety of functions, but the overall configuration of any particular UAV(s) in the UAV cluster, the corresponding position(s) within the UAV cluster, and the UAV cluster is based on the specific tasks that the UAVs are to perform. Such tasks include, for example, delivering one or more payloads (e.g., products ordered by customers) from one or more distribution points (e.g., warehouses) to one or more destination locations associated with corresponding customers.

[0063] Each individual UAV in the cluster is capable of autonomous independent flight, but is also capable of such flight as part of a UAV cluster (or, as will be seen in more detail later, a UAV "sub-cluster"). In addition, each individual UAV in the UAV cluster can be configured to perform a corresponding mission individually and / or as part of a larger UAV cluster. Thus, in accordance with the present disclosure, a UAV cluster can be assigned a flight mission, with each individual UAV in the cluster being configured to support the mission. However, during the mission, the individual UAVs in the UAV cluster can temporarily separate from the UAV cluster, perform their own independently configured missions, and then return to the UAV cluster to once again function as part of the cluster.

[0064] Now turning to the attached figure, Figure 1 A UAV system arranged as a UAV cluster 10 is shown configured in accordance with one aspect of the present disclosure. Figure 1As shown, the UAV cluster 10 is an overall structure composed of multiple separate but interconnected UAVs 12, 14, 16. Each type of UAV 12, 14, 16 is specifically configured to perform different functions or different types of functions. However, no matter how the function is, each individual UAV 12, 14, 16 includes a plurality of motor-driven rotors 18, which provide the UAV 12, 14, 16 and the UAV cluster 10 with the ability to fly and maneuver above the ground. In addition, no matter how its type or function is, each individual UAV 12, 14, 16 in the UAV cluster 10 is physically and communicatively interconnected to at least one other individual UAV 12, 14, 16 in the UAV cluster 10. When the UAV cluster 10 flies from one point to another to deliver a payload, this interconnection (which is more fully described with respect to the later drawings) facilitates the ability of each UAV 12, 14, 16 to communicate with each other, and shares resources with each other as needed.

[0065] The UAV cluster 10 may include any number and type of individual UAVs 12, 14, 16 as needed or desired. However, according to aspects of the present disclosure, the number, type, and location of the individual UAVs 12, 14, 16 within the UAV cluster 10 depends on the specific mission for the UAV cluster 10. For example, Figure 1 The UAV cluster 10 is composed of a plurality of "mission" UAVs 12 and a plurality of so-called "core UAVs", which include a plurality of "fuel storage" UAVs 14 and a plurality of "propulsion" UAVs 16. For missions in which a large number of individual payloads are to be delivered to a large number of geographically different destination locations, or for missions in which a small number of "heavy" payloads are to be delivered to a relatively small number of destination locations, the UAV cluster 10 can be configured to include a greater number of mission UAVs 12 designed to carry those "payloads". For example, in the case where the geographic distance of (one or more) destination locations meets or exceeds a predetermined maximum distance threshold, the UAV cluster 10 can be configured to also include various "core UAVs", such as one or more fuel storage UAVs 14 to carry additional fuel for other UAVs. For example, for missions in which the UAV cluster 10 requires higher flight speeds and / or higher maneuverability, the UAV cluster 10 can include one or more propulsion UAVs 16. These propulsion UAVs 16 (as shown in more detail later) include additional rotors 18 to help propel the UAV cluster 10 faster, higher and / or farther.

[0066] The specific overall “wing” configuration of the UAV cluster 10 also depends on the type of mission or tasks that the UAV cluster 10 is to perform. For example, Figure 1The wing configuration of the UAV swarm 10 seen in FIG. 1 is generally referred to as a "swept" wing. With a "swept wing" configuration, the UAV swarm 10 has less drag and higher aerodynamic performance. For example, in a mission where the UAV swarm 10 flies at a higher cruising speed, it is beneficial to configure the individual UAVs 12, 14, 16 so that they are organized to form a UAV swarm 10 of this type of wing configuration.

[0067] Figure 2 A UAV cluster 10 configured to perform a mission according to the present disclosure is shown. In particular, the UAV cluster 10 is created to include multiple individual mission UAVs 12 and multiple core UAVs. The core UAV includes a fuel storage UAV 14 and a propulsion UAV 16. In one aspect, the creation of a given UAV cluster 10 occurs "on the ground" at a distribution point of the distribution point DP. In these aspects, when at the distribution location, the individual UAVs 12, 14, 16 used to create the UAV cluster 10 are selected and physically and communicatively interconnected. The UAV cluster 10 is then launched to perform its flight mission, wherein the individual mission UAVs 12 are separated from the UAV cluster 10 to deliver their respective payloads to their respective destination locations DL. In other aspects, the individual UAVs 12, 14, 16 can be launched from one or more of the distribution points DP and join the already existing UAV cluster 10 in flight. In these aspects, the individual UAVs 12, 14, 16 are configured to autonomously dock with each other in flight and form physical and communication connections.

[0068] The connections formed by the various UAVs 12, 14, 16 when creating or joining the UAV cluster 10 facilitate data communication between the various UAVs 12, 14, 16 and allow them to dynamically share their resources with each other. The ability to dynamically share resources between the various UAVs 12, 14, 16 while "in flight" helps ensure that the overall mission of the UAV cluster 10 and the individual missions of the mission UAVs 12 in the UAV cluster 10 are successfully completed.

[0069] Regardless of where the UAV cluster 10 is created, or how the individual UAVs 12, 14, 16 are selected to create the UAV cluster 10, the UAVs 12, 14, 16 are configured to remain together as a single entity to fly to one or more destination locations DL with greater efficiency. Upon arrival, the mission UAVs 12 temporarily detach from the in-flight UAV cluster 10, deliver their respective payloads to the appropriate destination location DL, and then rejoin the UAV cluster 10 to return the flight to the distribution point DP. Thus, the individual UAVs comprising the UAV cluster are releasably connected.

[0070] Figures 3A-7Bare various views showing some exemplary types of individual UAVs suitable for creating a UAV cluster 10 according to various aspects of the present disclosure. In particular, the individual UAVs can be rotor-based aircraft or "drones" that can be controlled independently and / or as part of a UAV cluster 10 by a user and / or a control program executed on a processing circuit. In the illustrated embodiment, all individual UAVs are hexagonal polygons of the same size. In this way, all individual UAVs used to build a given UAV cluster 10 are consistent (e.g., the same form so that the shapes overlap when superimposed). This consistency helps to ensure that the individual UAVs are neatly "fitted" together to form a UAV cluster 10, facilitate the docking and undocking of the individual UAVs relative to the UAV cluster 10, and allow the individual UAVs to be interconnected in any desired wing shape. Therefore, the consistency of the individual UAVs in a given UAV cluster 10 ensures that the UAV cluster 10 can be both dynamically reconfigured and dynamically expanded. In other embodiments, other arrangements are possible, for example, the shapes can be similar but inconsistent to each other (e.g., having the same shape but with different sizes).

[0071] It will be readily understood by those skilled in the art that the individual UAVs of the present invention are not limited to the specific hexagonal shapes and sizes seen in the accompanying drawings. According to other aspects of the present disclosure, the UAV cluster 10 may include individual UAVs of multiple shapes such as triangles, quadrilaterals, pentagons, octagons, etc. Therefore, other shapes and sizes for individual UAVs are possible, as long as all individual UAVs in a given UAV cluster 10 are consistent.

[0072] Figure 3A-3B Mission UAVs 12 configured in accordance with one aspect of the present disclosure are shown. Mission UAVs 12 are the "workhorses" of the UAV cluster 10, as their primary function is to carry payloads and deliver the payloads to predetermined destination locations. However, not all mission UAVs 12 in a given UAV cluster 10 need to be utilized to carry payloads. In some aspects, for example, at least some of the mission UAVs 12 forming a given UAV cluster 10 provide lift capability and maneuverability to the UAV cluster 10.

[0073] like Figure 3A-3BAs shown, the mission UAV 12 includes a frame 20 and an infrastructure span 22 configured to carry the weight of a given payload from a distribution point DP to a destination location DL. The frame 20 is made of a rigid or semi-rigid lightweight material and is configured to at least partially protect the components of the mission UAV 12. The infrastructure span 22 is connected to the inner surface of the frame 20 and extends between the inner surfaces of the frame 20, and is also made of a lightweight rigid material or a semi-rigid material. As shown in these figures, the infrastructure span 22 is configured to support at least some components of the mission UAV 12, such as the rotor 18 and its corresponding motor and control components. In addition, the interior of the infrastructure span 22 can be at least partially hollow, thereby serving as a passage for cables, wires and / or other connection-related hardware required for each UAV to communicate with and share resources.

[0074] like Figure 3B As best shown in FIG. 14 , the frame 20 also includes a plurality of docking members 24. In this regard, the docking members 24 include electromagnets and are controlled by one or more processing circuits to activate and deactivate as needed. In other embodiments, other arrangements of the docking members 24 are possible. For example, the docking members 24 may include the docking mechanism 110 shown in FIG. 14 .

[0075] When activated, the docking member 24 generates a magnetic field to magnetically attract the docking members 24 of other proximal UAVs 12, 14, 16 in the UAV cluster 10. The docking member 24 then remains activated during flight operations to maintain the desired wing shape of the UAV cluster 10. In addition, each docking member 24 includes a connecting conduit 26 (e.g., one or more wires) to facilitate data communication and resource sharing with other UAVs in the UAV cluster 10 when the mission UAV 12 is docked with the UAV cluster 10.

[0076] When deactivated, the docking member 24 repels or stops attracting the docking members 24 of other individual UAVs. This deactivation allows a given mission UAV 12 to "undock" from the UAV cluster 10, thereby configuring the mission UAV 12 to temporarily separate from the UAV cluster 10 and deliver its payload to the destination location DL. Once the payload has been delivered and the mission UAV 12 returns to docking with the UAV cluster 10, the docking member 24 is activated again.

[0077] like Figure 3A-3BAs shown, the mission UAV 12 includes a four-rotor configuration. The rotational speed, pitch and yaw of each rotor 18 can be independently controlled to change its height and orientation relative to the ground, as well as to change its speed. However, as will be seen in more detail later, the mission UAV 12 is not limited to a four-rotor configuration. On the contrary, the mission UAV 12 of the present aspect can have more or fewer rotors as needed or desired.

[0078] Figures 4A-7B Various types of "core UAVs" suitable for use with aspects of the present disclosure are shown. These so-called "core UAVs" are not mission UAVs 12 because they are not configured to carry and deliver payloads. Instead, the core UAVs of the present aspect have different specialized functions designed to enhance the capabilities of individual UAVs and UAV clusters, thereby helping to ensure that the UAV cluster 10 and each mission UAV 12 achieve successful mission completion.

[0079] Figure 4A-4B A fuel storage UAV 14 configured to increase liquid fuel used by other UAVs in a UAV cluster 10 according to one aspect of the present disclosure is shown. The fuel storage UAV 14 also includes a frame 20, an infrastructure span pier 22, a docking member 24, and a connecting conduit 26. However, the fuel storage UAV 14 also includes a fuel storage tank 28 configured to carry a certain amount of liquid fuel, such as gasoline, for example. In more detail, the fuel storage UAV 14 of this aspect is not configured to carry a deliverable payload like the mission UAV 12. Instead, the fuel storage UAV 14 is configured to increase the fuel storage capacity of each UAV 12, 14, thereby extending the flight distance and time.

[0080] In operation, control circuitry (described later) receives a request for additional fuel from one or more UAVs in the UAV cluster 10. In response to the request, the fuel storage UAV 14 is controlled to provide the requested fuel from the fuel storage 28 to the specific requesting UAV. For example, the fuel may be pumped through conduits or channels (such as those formed in the frame 20 and the infrastructure span 22) formed in the frame 20 and the infrastructure span 22. Figure 3B shown).

[0081] According to the present disclosure, a given UAV cluster 10 can be configured to include one or more of these fuel storage UAVs 14 based on its specific mission. For example, a UAV cluster 10 configured to fly a long-distance mission can be created, as previously described, to include multiple fuel storage UAVs 14. The longer the distance the UAV cluster 10 flies, the more fuel storage UAVs 14 the UAV cluster 10 can include. In addition, the positioning of multiple fuel storage UAVs 14 within the UAV cluster 10 depends on the UAV cluster 10 mission and the specific wing configuration of the UAV cluster 10. Typically, the fuel storage UAV 14 is located within the UAV cluster to ensure proper weight distribution of the UAV cluster 10.

[0082] Figure 5A-5B A class of "core" or special function UAVs, referred to as propulsion UAVs 16, according to one aspect of the present disclosure is shown. In addition to the frame 20, infrastructure span piers 22, docking members 24, and communications ducts 26 (each of which was previously described), the propulsion UAVs 16 include an additional set of rotors 18. As described above, the rotors 18 are independently controllable, thereby facilitating the necessary control of the flight characteristics of the UAV cluster 10 during flight.

[0083] Figure 6A-6B Another "core" or special function UAV is shown, referred to herein as a power UAV 30. The power UAV 30 is constructed similarly to the other UAVs, i.e., the power UAV 30 also includes a frame 20, an infrastructure span pier 22, a plurality of docking members 24, and a communication conduit 26. In addition, however, the power UAV 30 also includes a plurality of electrical energy sources, such as batteries 34, which are mounted to the platform 32 between the span frames 20, for example. When in operation, the power UAV 30 is controlled upon request to provide electrical power generated by the batteries 34 to one or more of the other UAVs in the UAV cluster 10. The UAVs in the UAV cluster 10 that receive the power can then utilize the power to augment their own individual power supplies.

[0084] like Figure 6A-6B As shown, the power UAV 30 includes a plurality of batteries 34. However, it should be understood by those skilled in the art that the present disclosure is not limited thereto. By way of example only, the power UAV 30 may include one or more solar cells designed to generate electricity from light in addition to or in place of the batteries 34. In aspects where the power UAV 30 includes both, the solar cells may be used to charge the batteries 34 and / or provide direct current to components of another UAV in the UAV cluster 10.

[0085] Figure 7A-7BAnother type of special function UAV applicable to various aspects of the present disclosure is shown. In this regard, the sensor UAV 40 includes a frame 20, an infrastructure span pier 22, a rotor 18, a docking member 24, and a communication conduit 26, but the sensor UAV 40 also includes a sensor 46 mounted to the platform 42. The sensor 46 is configured to sense the surrounding environment of the UAV cluster 10. According to various aspects, the sensor 46 may include any sensor known in the art, including but not limited to a camera, an infrared sensor, a thermal sensor, a microphone, a motion sensor, etc., or any combination thereof. In addition, the sensor UAV 40 may also include a control circuit 44 mounted to the platform 42, and the control circuit 44 may include a memory circuit and is configured to control the operation of the sensor 46 when the sensor UAV 40 is separated from the UAV cluster 10. In the aspect where the control circuit 44 also includes a memory circuit, the sensor UAV 40 can store images, videos, audio and / or other artifacts until it returns to the UAV cluster 10 and / or the distribution point DP. In some aspects, the UAV cluster 10 also includes UAVs that include memory circuits that store artifacts sensed by the sensors 46. In these cases, the artifacts can be communicated between the UAVs via the communication conduit 26.

[0086] Figure 8 is a functional block diagram showing some components of the UAV circuitry 50 carried by each individual UAV in the UAV cluster 10. Figure 8 As shown, the UAV circuit 50 of each UAV includes at least a control circuit 52, a memory 54, and a communication interface circuit 56. For example, the control circuit 52 includes a microprocessor and controls the operation of the UAV according to the execution of a control program stored in the memory 54. For example, the control program can define tasks assigned to the UAV cluster 10 as a whole or to the UAVs individually. In the case where the UAV is a core UAV (such as a fuel storage UAV 14), for example, the control circuit 52 receives and responds to requests for fuel (or other resources). When responding, the control circuit 52 is also configured to control its fuel storage 28 to provide fuel to the requesting UAV. The communication interface circuit 56 provides communication between the various UAVs in the UAV cluster 10.

[0087] Fig. 9is a flow chart illustrating a method 60 for creating and configuring a UAV cluster 10 based on its mission according to one aspect of the present disclosure. The method 60 begins by determining the mission characteristics of the mission assigned to the UAV cluster 10 (box 62). For example, the overall mission of the UAV cluster 10 may be to deliver a single large, relatively heavy payload to a remote destination location DL. Alternatively, the mission may be to deliver multiple smaller payloads to different destination locations DL that are geographically close to each other and to a launch point of the UAV cluster 10. In yet another example, the mission may be for the UAV cluster 10 to fly to a predetermined destination location DL and release a sensor UAV 40 to capture images of the destination location DL. However, regardless of the mission, the method 60 arranges multiple mission UAVs 12 based on the mission to form a UAV cluster 10 (box 64).

[0088] Then, one or both of the number and type of "core" or special function UAVs 14, 16, 30, 40 are selected based on the characteristics of the mission distributed throughout the UAV cluster 10 (box 66). For example, a mission that requires additional fuel will likely select one or more fuel UAVs 14 to increase the fuel supply of other UAVs in the UAV cluster 10. A mission that requires capturing images will select one or more sensor UAVs 40 to be included in the UAV cluster 10. However, once the appropriate "core" or special function UAVs are selected, a distribution pattern is selected for these UAVs (box 68). The distribution pattern identifies the corresponding position of each core UAV selected to be included in the UAV cluster 10. The UAVs are then distributed throughout the UAV cluster 10 according to the selected distribution pattern (box 70), and are communicatively connected to each other and to one or more of the multiple mission UAVs (box 72).

[0089] It should be understood by those skilled in the art that the distribution pattern selected for the core UAV is not limited to the distance that the UAV cluster 10 must fly to one or more destination locations DL. On the contrary, other factors need to be considered when selecting a distribution pattern. For example, when selecting a distribution pattern for the core UAV, the type of task to be performed by the UAV cluster 10 or a group of one or more task UAVs 12 in the UAV cluster 10 can also be considered. That is, the task of capturing an image of an object or performing some other sensory function may mean that one or more sensor UAVs 40 will be distributed in order to obtain a clear line of sight to the object. A task with one or more intermediate waypoints between the distribution point DP and the destination location DL may mean that if the intermediate waypoints can refuel the UAV cluster 10, the UAV cluster 10 will include fewer fuel storage UAVs 14, or if the intermediate waypoints cannot refuel the UAV cluster 10, the UAV cluster 10 will include more fuel storage UAVs 14. In either case, the distribution pattern of the fuel storage UAVs 14 may be selected to reflect an even weight distribution and / or to ensure close proximity of the fuel storage UAVs 14 and the UAVs they will be refueling. Another factor that may be considered is the characteristics of the payloads carried by the UAV cluster 10. For example, heavier payloads may require additional propulsion UAVs 16 that are symmetrically distributed across the UAV cluster 10 to ensure that the mission UAVs 12 are able to carry the payload to the destination location DL. In some aspects, multiple factors are considered when selecting the number and type of core UAVs to include in the UAV cluster 10 and determining an appropriate distribution pattern for the core UAVs.

[0090] Fig.10 is a functional block diagram illustrating some components of a computing device 80 configured to implement method 60 according to one aspect of the present disclosure. Fig.10 As shown, computing device 80 includes processing circuitry 82 , memory 84 , user interface 86 , and communications circuitry 88 .

[0091] According to various aspects of the present disclosure, the processing circuit 82 includes one or more microprocessors, microcontrollers, hardware circuits, discrete logic circuits, hardware registers, digital signal processors (DSPs), field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), or combinations thereof. Therefore, in one aspect, the processing circuit 82 includes programmable hardware capable of executing software instructions stored, for example, as a machine-readable computer control program 90 in a memory 84. The processing circuit 82 is configured to execute the control program 90 to perform the aspects previously described in the present disclosure. This includes determining the characteristics of the tasks assigned to the UAV cluster 10, and based on the characteristics, selecting the number and type of individual UAVs that will make up the UAV cluster 10, and determining the distribution pattern of the selected "core" UAVs. In this way, a UAV cluster 10 can be constructed in which the core UAVs are distributed according to the selected distribution pattern.

[0092] The memory 84 includes any non-transitory machine-readable storage medium known in the art or that can be developed, whether volatile or non-volatile, including (but not limited to) solid-state media (e.g., SRAM, DRAM, DDRAM, ROM, PROM, EPROM, flash memory, solid-state drive, etc.), removable storage devices (e.g., secure digital (SD) card, miniSD card, microSD card, memory stick, thumb drive, USB flash drive, ROM cartridge, universal media disc), fixed drives (e.g., magnetic hard drive), etc., alone or in any combination. Fig.10 As shown, the memory 84 is configured to store a computer program product (e.g., a control program 90) including instructions executed by the processing circuit 82 to perform the previously described aspects of the present disclosure. In addition, the memory 84 is configured to store various information and data, such as rules for selecting the number and type of individual UAVs to be used to construct the UAV cluster 10, and the corresponding distribution pattern of the core UAVs.

[0093] The user interface 86 includes circuits configured to control input and output (I / O) data paths of the computing device 80. I / O data paths include those used to exchange signals with a user. For example, in some aspects, the user interface 86 includes various user input / output devices, including but not limited to one or more display devices, a keyboard or keypad, a mouse, etc. Using these, the user of the computing device 80 is able to select the tasks to be assigned to a given UAV cluster 10, as well as input any parameters required to ensure that the UAV cluster 10 successfully completes its assigned tasks.

[0094] The communication circuit 88 includes a circuit configured to allow the computing device 80 to transmit data and information with one or more other devices via a communication network (not shown). Typically, the communication circuit 88 includes an ETHERNET card or other circuits specifically configured to allow the computing device 80 to transmit data and information. However, in other aspects of the present disclosure, the communication circuit 88 includes a transceiver that is configured to send a communication signal to another device and receive a communication signal from another device via a wireless communication network. In aspects of the present disclosure, the computing device 80 utilizes the communication circuit 88 to transmit signals and data about the assigned tasks to the UAV cluster 10, as well as to one or more of the various UAVs that comprise the UAV cluster. For example, the computing device 80 can transmit signals and data to various task UAVs 12 in the UAV cluster 10 to specifically configure those task UAVs 12 to perform their respective respective tasks.

[0095] As previously described, the present disclosure does not limit the creation of a UAV cluster 10 to any particular type of wing. The present disclosure also does not limit the creation of a UAV cluster 10 to any particular type and / or number of individual UAVs. On the contrary, aspects of the present disclosure can be used to create a UAV cluster 10 to form any wing shape, and further include any type and number of component UAVs. As described above, these specific aspects are determined based on knowledge of the tasks that will be assigned to the UAV cluster 10 and knowledge of the tasks that will be assigned to the individual UAVs that make up the UAV cluster 10.

[0096] to this end, Figure 11-13 A UAV cluster 10 formed according to other aspects of the present disclosure is shown. In particular, Fig.11 A UAV cluster 100 is shown, which includes multiple mission UAVs 12 and multiple "core" UAVs. In this aspect, the core UAVs include a fuel storage UAV 14, a propulsion UAV 16, and a sensor UAV 40. In addition, in this aspect, the UAV cluster 10 is configured to be separated into UAV subclusters 100, 102, 104. Each UAV subcluster 100, 102, 104 can be configured to support the UAV cluster 10 mission as a whole, but is also configured to perform its own mission. For example, a mission UAV 12 can be detached from the UAV subcluster 104 in flight to fly to its own predetermined destination location DL and deliver its payload. At the same time, the remaining UAVs in the UAV subcluster 104 (i.e., the remaining mission UAVs 12 and sensor UAVs 40) will continue to perform the tasks assigned to the UAV subcluster 104. After completing the mission, the detached mission UAV 12 will return to dock with the UAV subcluster 104 again to perform its return flight, as described above.

[0097] In this regard, each of the UAV subclusters 100, 102, 104 may be independently controlled to perform its corresponding mission. Therefore, the number and type of core UAVs included in each UAV subcluster 100, 102, 104, and the distribution pattern of those core UAVs in the UAV subclusters 100, 102, 104 are determined based on the characteristics of the missions assigned to the UAV subclusters 100, 102, 104. In addition, however, each UAV subcluster 100, 102, 104 is capable of controlling its own mission instructions when separated from the other UAV subclusters 100.

[0098] As an example, the first core UAV (e.g., propulsion UAV 16) in the UAV sub-cluster 100 may be configured as a "master UAV" to control all UAVs in the UAV cluster 10 when all UAV sub-clusters 100, 102, 104 are docked together. Thus, in this configuration, the other core UAVs (e.g., propulsion UAVs 16 in UAV sub-clusters 102 and 104, respectively) are controlled by the master UAV. However, upon detachment from the UAV cluster 10, each of the propulsion UAVs 16 in the UAV sub-clusters 100, 102, 104 will serve as its own "master UAV" for that UAV sub-cluster 100, 102, 104 while detaching from the other UAV sub-clusters 100, 102, 104 of the UAV cluster 10. Upon re-docking, the propulsion UAV 16 of the UAV sub-cluster 92 will autonomously regain its "master UAV" status for the UAV cluster 10.

[0099] Fig.12 is a top view of a UAV cluster 10 configured in accordance with another aspect of the present disclosure. In this aspect, the UAV cluster 10 has a "delta" wing shape. This wing shape is very efficient and provides a large wing area, thereby reducing the load on the wing and increasing maneuverability. Fig.11 As shown, the UAV cluster 10 includes a plurality of mission UAVs 12 , a plurality of fuel storage UAVs 14 , a plurality of propulsion UAVs 16 , and a power UAV 30 configured to enhance the electrical power capabilities of the other UAVs in the UAV cluster 10 .

[0100] Fig.13 is a perspective view of a UAV cluster 10 having an "elliptical" wing shape according to another aspect of the present disclosure. An elliptical wing shape may be advantageous under certain conditions by providing less drag than other wing shapes to provide greater lift. Fig.13 As shown, the UAV cluster 10 includes a plurality of mission UAVs 12 , a plurality of fuel storage UAVs 14 , a plurality of propulsion UAVs 16 , and a power UAV 30 configured to enhance the electrical power capabilities of the other UAVs in the UAV cluster 10 .

[0101] The UAV cluster 10 created according to the present disclosure provides benefits that conventionally created UAV clusters cannot provide. In particular, by generating a UAV cluster 10 including a selected "core" UAV and determining their distribution pattern in the UAV cluster 10 according to the characteristics of the mission, the UAV cluster 10 achieves higher cost-effectiveness than its traditional counterparts when transmitting the payload to one or more destination locations DL. In addition, the structure of the UAV cluster 10 is expandable and reconfigurable in flight. These capabilities easily facilitate the "just-in-time" planning of using UAV clusters to deliver payloads. In addition, even if the mission assigned to a given UAV cluster 10 changes after it is launched, various aspects of the present disclosure allow the individual UAVs that make up the UAV cluster 10 to be rearranged, replaced or expanded according to any new mission parameters. In particular, in one aspect, the previously described computing device 80 can determine a new UAV supplement and distribution pattern for the UAV cluster 10 when the UAV cluster 10 is in flight, and cause a reconfiguration instruction to be sent to the UAV cluster 10.

[0102] Various aspects of the present disclosure also include various methods and processes as described herein, which are implemented using various hardware configurations configured in a manner that varies in some details from the broad description given above. For example, the docking member 24 of the aspects previously discussed in the present disclosure includes an electromagnet disposed on the frame 20. The docking member 24 in these aspects is controlled by one or more processing circuits to activate to allow docking with one or more other UAVs (e.g., any one of UAV12, 14, 16, 30, 40) to form a UAV cluster 10, and deactivate to allow docking from other UAVs in the UAV cluster 10. However, as will be understood by those of ordinary skill in the art, the present invention is not limited to using electromagnets on the frame of the UAV to facilitate docking and detachment. In other aspects of the present disclosure, each of the UAVs includes a self-aligning docking mechanism that is controlled to engage and disengage the self-aligning docking mechanism of another UAV in the UAV cluster 10. In other words, some embodiments may use one or more different types of docking mechanisms.

[0103] For example, Figures 14A-14B and Figures 15A-15BOne such self-aligning docking mechanism 110 according to one aspect of the present disclosure is shown in the context of a pair of UAVs 12a, 12b. Such a docking mechanism can be used on any UAV regardless of the type of UAV, and therefore, the specific description of the UAV as UAV 12 is for illustration purposes only. Furthermore, while each UAV 12a, 12b includes its own self-aligning docking mechanism 110, for clarity and ease of discussion, the following text describes the self-aligning docking mechanism 110 with respect to a single UAV 12a.

[0104] As shown in these figures, the self-aligning docking mechanism 110 of the UAV 12a includes a pair of edge extension U-shaped clips 112a, an arm 114a extending from each edge extension U-shaped clip 112a, an electromagnetic member 116a disposed at the end of the arm 114a, a pair of docking alignment control circuits 118a, and a flexible seal 120a attached to the frame 20a of the UAV 12a. In addition, the self-aligning docking mechanism 110 includes a docking claw servo control circuit 122a, a clock polarization servo drive circuit 124a, a bearing bushing member 126a fixedly coupled to the frame 20a, and a rotatable docking claw 130a coupled to the bearing bushing member 126a. The rotatable docking claw 130a of this aspect also includes a pair of opposable grippers 132, 134, as will be seen in more detail later, the grippers 132, 134 are configured to move between an open position for undocking and a closed position for docking.

[0105] For docking operation, first make UAV 12a, 12b fly so that they are very close to each other. In one aspect, this motion is manually controlled by the operator using a controller. In other aspects, each UAV 12a, 12b autonomously controls its own motion toward another without the need for operator intervention. In some aspects, the motion of one UAV 12a, 12b toward another UAV 12a, 12b is controlled by both the operator and UAV 12a, 12b. For example, the operator can manually control UAV 12a to move toward UAV 12b until UAV 12a, 12b are within a predetermined distance from each other. Once within a predetermined distance, UAV 12a, 12b can be configured to autonomously complete the docking process. However, regardless of whether the operator provides any manual control, each UAV 12a, 12b is configured to communicate with another to provide information and data required for docking. The information and data exchanged by UAV 12a, 12b include but are not limited to their respective IDs, positions and orientations relative to each other.

[0106] UAV 12a, 12b is configured to achieve docking process in multiple stages or phases. During the first stage, a "rough alignment" between UAV 12a, 12b is achieved, wherein UAV 12a, 12b is generally but not precisely aligned. In particular, in one aspect, each UAV 12a, 12b extends its arm 114a, 114b from their respective edges U-shaped clips 112a, 112b toward another. Sensors on UAV 12a, 12b can help detect UAVs, and help UAV 12a, 12b initial positioning relative to each other. Then, the electromagnetic members 116a, 116b on each arm 114a, 114b are stimulated to attract each other. Once the electromagnetic members 116a, 116b contact each other, the rough alignment stage is completed, wherein the two UAVs 12a, 12b are connected together.

[0107] As described above, even if the UAVs 12a, 12b are coupled and roughly aligned with each other, their respective docking mechanisms are still not precisely aligned. Therefore, various aspects of the present disclosure configure the UAVs 12a, 12b to implement a second phase in which the docking claws 130a, 130b self-align to improve the rough alignment. In particular, once the electromagnetic members 116a, 116b are in contact or very close to such contact, the docking alignment control circuits 118a, 118b detect each other. In this regard, the docking alignment control circuits 118a, 118b include electro-optical alignment control circuits that emit light. Each docking alignment control circuit 118a, 118b detects light emitted by the other and sends a corresponding alignment signal to its corresponding docking claw servo control circuit 122a, 122b. Based on the signals received from the docking alignment control circuits 118a, 118b, each docking claw servo control circuit 122a, 122b determines whether its corresponding docking claws 130a, 130b are fully aligned with each other, or whether further precise alignment is required. If precise alignment is required, each docking claw servo control circuit 122a, 122b sends an alignment signal to its corresponding clock polarization servo drive circuit 124a, 124b. In response, each clock polarization servo drive circuit 124a, 124b generates a command signal to rotate their respective docking claws 130a, 130b in one direction or the other to achieve a more precise alignment.

[0108] According to one aspect of the present disclosure, the rotation of the docking claws 130a, 130b is complementary. That is, when the clock polarization servo drive circuit 124a of the UAV 12a generates a control signal to rotate the docking claw 130a around an axis / in a first direction (e.g., clockwise), the clock polarization servo drive circuit 124b of the UAV 12b generates a complementary control signal to rotate the docking claw 130b around an axis / in a second direction opposite to the first direction (e.g., counterclockwise). In addition, determining the specific rotation direction of each docking claw 130a, 130b can be accomplished in a variety of ways. In one aspect, for example, the rotation direction of each docking claw 130a, 130b is determined by message passing between UAVs 12a, 12b. In particular, the clock polarization servo drive circuit 124a can send a message to the clock polarization servo drive circuit 124b indicating the direction in which it will rotate the docking claw 130a. Upon receipt, the clock polarization servo drive circuit 124b will also generate one or more signals to rotate the docking claw 130b, but in the opposite direction.

[0109] In another aspect of the present disclosure, each clock polarization servo drive circuit 124a, 124b generates one or more control signals to rotate its corresponding docking jaw 130a, 130b to a predetermined position. In such a predetermined position, the grippers 132, 134 of the docking jaw 130a are offset by approximately 90° relative to the grippers 136, 138 of the docking jaw 130b (see FIG. Figures 15A-15B ).

[0110] However, regardless of the specific method used, the two-stage method for aligning the docking claws 130a, 130b according to the present disclosure retains an energy source. More specifically, the arms 114a, 114b and the electromagnetic members 116a, 116b provide a basic alignment of the UAVs 12a, 12b during the first stage to allow the docking claws 130a, 130b to be roughly aligned with each other. Although this alignment is not precise, and therefore may not be completely sufficient for docking, it is sufficient to place the grippers 132, 134, 136, and 138 in general alignment with each other. This reduces the amount of power consumed by rotating the grippers 132, 134, 136, 138 into precise alignment during the second stage.

[0111] like Fig.14A and Fig.15A As shown, the clamps 132, 134 and the clamps 136, 138 are in the "open" state. Fig. 14B and Fig. 15B , the clamps 132, 134 and the clamps 136, 138 are in a "closed" state. As will be appreciated by one of ordinary skill in the art, there are a variety of ways in which the clamps 132, 134, 136, 138 are configured to facilitate this function.

[0112] In one aspect, for example, the grippers 132, 134, 136, 138 include a "shape memory alloy." A shape memory alloy includes a material that transforms into a first shape at a first temperature and transforms into a second shape at a second temperature different from the first temperature. In other words, the alloy can spontaneously achieve this transformation without any external forces acting on the material. In some aspects, this deformation is achieved by selectively applying an electrical current to the shape memory alloy material comprising the grippers 132, 134, 136, 138 (e.g., to generate Joule heating and thereby selectively control the temperature of the grippers 132, 134, 136, 138).

[0113] In more detail, each of the docking jaw servo control circuits 122a, 122b is configured to selectively apply current to its corresponding docking jaw 130a, 130b. For example, in a default state, neither of the docking jaw servo control circuits 122a, 122b applies current to the grippers 132, 134, 136, 138 (or, alternatively, the current will remain below a predetermined level), thereby causing the grippers 132, 134, 136, 138 to move to a "closed" state (see Fig. 14B , Fig. 15B ). In the closed state, the ridges formed on the grippers 132, 134, 136, 138 contact each other, which helps to keep the UAVs 12a, 12b docked with each other. However, in order to "open" the docking jaws 130a, 130b, the docking jaw servo control circuits 122a, 122b are configured to apply an electric current to the grippers 132, 134, 136, 138. The application of the electric current causes the shape memory alloy to heat up, thereby causing the grippers 132, 134, 136, 138 to move or "curl" away from each other (see Fig.14A , Fig.15A ). In this "open" state, the engaging claws 130a, 130b can be precisely aligned with each other. Once aligned, the engaging claw servo control circuits 122a, 122b stop applying current to the engaging claws 130a, 130b, thereby returning the clamps 132, 134, 136, 138 to their original "closed" state.

[0114] Fig.16 1 is a flow chart illustrating a method 140 for docking two UAVs 12a, 12b according to one aspect of the present disclosure. As described in detail herein, Fig.16 The method 140 is performed by the docking claw servo control circuit 122a of the UAV 12a in two stages. However, it will be readily appreciated by those skilled in the art that the description of the method 140 in the context of a given UAV 12a is for illustrative purposes only and that the method is easily extendable to multiple UAVs.

[0115] In the first stage, the method 140 begins with the docking claw servo control circuit 122a detecting the presence of another UAV (e.g., UAV12b) (box 142). As previously described, such detection can be accomplished using one or more proximity sensors or using any means known in the art. Once the docking claw servo control circuit 122a detects another UAV in close proximity, data is exchanged with the other UAV (box 144). Such data can include any information required or desired, but in one aspect, includes the ID (identity) of the UAV and the position and / or orientation of the UAV. The docking claw servo control circuit 122a then activates the electromagnetic member 116a disposed at the terminal end of the arm 114a (box 146) and causes the electro-optical alignment control device 118a to begin emitting a signal, which in this case is light (box 148). The emitted light will be detected by the corresponding electro-optical alignment control device 118b associated with the other UAV 12b.

[0116] In the second stage, the method 140 requires the docking claw servo control circuit 122a to detect alignment signals (e.g., light) emitted by the electro-optical alignment control device 118b of the UAV 12b (box 150). Once detected, the docking claw servo control circuit 122a sends these signals to the docking claw servo control circuit 122a (box 152), and then generates and sends alignment signals to the clock polarization servo drive circuit 124a, thereby causing the circuit to rotate the docking claw 130a (box 154) (e.g., the docking claw 130a rotates to resolve the orientation difference between the UAV 12a and the UAV 12b, such as a pitch difference). For example, the docking claw servo control circuit 122a then generates the necessary signal to open the docking claw 130a, such as a voltage or current above a specified threshold (box 156). As described above, the docking claw 130a in one aspect includes a smart material, such as a smart memory alloy, which is configured to change its shape in response to the application of an electric current. Therefore, as long as the electric current is applied to the smart memory alloy, the docking claw 130a remains in an open state.

[0117] The docking jaw servo control circuit 122a then determines the amount and direction to rotate the docking jaw 130a, as previously described (block 158), and generates the signal required to rotate the docking jaw 130a in the determined amount and direction (block 160). Thus aligned, the docking jaw servo control circuit 122a generates the signal required to close the docking jaw 130 (block 162). As previously described, generating the signal required to close the docking jaw 130a may include the docking jaw servo control circuit 122a stopping generating or sending a signal to keep the docking jaw 130a open. By simply stopping sending the signal, various aspects of the present disclosure can achieve the closing of the docking jaw 130a while saving a valuable energy source. In order to open the docking jaw 130a again (i.e., release the UAV 12a from another UAV), one aspect of the present invention requires that the docking jaw servo control circuit 122a stop generating current and stop sending current to the docking jaw 130a.

[0118] Fig.17 is a functional block diagram illustrating the docking claw servo control circuit 122 implemented as different hardware units and software modules according to one aspect of the present disclosure. Fig.17 As shown, the docking jaw servo control circuit 122 includes an edge extension clevis control module / unit 172 , a communication module / unit 174 , an electro-optical emitter / detector module / unit 176 , a docking jaw servo determination module / unit 178 , and a docking jaw control module / unit 180 .

[0119] The edge extension clevis control module / unit 172 is configured to control the extension of the arm 114 from the edge extension clevis 112 in response to the UAV 12 detecting another UAV 12 with which it is to dock. In particular, in response to one or more control signals, the edge extension clevis control module / unit 172 extends the arm 114 and activates the electromagnetic member 116 disposed at the terminal end of the arm 114 to magnetically couple to the electromagnetic member associated with the other UAV 12. When undocking, the edge extension clevis control module / unit 172 is configured to disable the electromagnetic member 116 to allow the UAVs to disconnect from each other, and then subsequently retract the arm 114 into or toward the frame 20 of the UAV 12.

[0120] The communication module / unit 174 is configured to send and receive data, signals, and information to and from the clock polarization servo drive circuit 124 to effect rotation of the docking jaws 130, and in some aspects, to communicate with one or more other processing circuits associated with the UAV 12. The electro-optical emitter / detector module / unit 176 is configured to activate the docking alignment control circuit 118 so that the docking alignment control circuit 118 begins to emit light, which is detected by a corresponding docking alignment control circuit 118 disposed on the other UAV 12. In addition, the docking alignment control circuit 118 is also configured to detect light emitted by a corresponding docking alignment control circuit 118 associated with the other UAV.

[0121] The docking claw servo determination module / unit 178 is configured to determine the amount of rotation of the docking claw 130, and the direction in which the docking claw is to be rotated. The docking claw control module / unit 180 is configured to rotate the docking claw 130 in response to data output by the docking claw servo determination module / unit 178, and to cause the docking claw 130 to open and close in response to the selective application of electric current, as previously described.

[0122] As previously described, the present disclosure advantageously provides different types of UAVs, each of which is configured to perform different functions. In addition, when the UAV cluster 10 is configured for a specific type of mission, this functional change is advantageous. For example, consider a mission that requires the UAV cluster 10 to deliver one or more light payloads to one or more corresponding destination locations. In these cases, the individual UAVs in the UAV cluster 10 may not require additional power sources or fuel reserves, but are configured to mainly include UAVs designed to carry individual light payloads. However, this UAV cluster configuration is different from the configuration of the UAV cluster 10 configured to fly long distances and / or carry heavy payloads and deliver heavy payloads to the destination location. In these latter scenarios, it will be beneficial to configure the UAV cluster 10 to include one or more UAVs specifically designed to provide additional power sources for other UAVs.

[0123] For example, Fig.18 1 is a functional block diagram of a power source component 182 for a UAV that is specifically configured to generate power and distribute the power to one or more other UAVs in the UAV cluster 10. Fig.18 As shown, the power source component 182 includes: a power distribution section 190 configured to distribute power source to other UAVs in the UAV cluster 10; and a generator section 200 configured to generate power distributed to other UAVs in the UAV cluster 10.

[0124] In more detail, the power distribution section 190 includes: navigation, communication and flight control circuits 192; electrical power storage circuits 194; and power regulator circuits 196 operably coupled to one or more power distribution ports 198. The navigation, communication and flight control circuits 192 include circuits (e.g., microprocessors, etc.) configured to control navigation and communication of the UAV configured with the power source component 182. Specifically, the navigation, communication and flight control circuits 192 are configured to exchange data and information with processing circuits of other UAVs to ensure that the UAV configured with the power source component 182 is aware of the flight plan, changes to the flight plan, etc.

[0125] In addition, in some aspects, the navigation, communication, and flight control circuit 192 exchanges messages with the circuits of other UAVs in the UAV cluster 10 to grant requests for additional power sources. For example, such a request may be received when another UAV in the cluster is running low on electrical power and needs to be recharged to continue its mission. In one aspect, the received message requesting a power source is sent to the power regulator circuit 196 for processing. As described in more detail below, the power regulator circuit 196 may then provide a power source to the UAV being requested.

[0126] The electrical power storage circuit 194 includes circuitry configured to store electricity generated by the generator section 200. In this regard, the power source component 182 can distribute the power stored in the electrical power storage circuit 194 to other UAVs under the control of the power conditioner circuit 196.

[0127] The power regulator circuit 196 (which also includes a microprocessor circuit) grants or denies requests for additional power sources received from the navigation, communication, and flight control circuits 192. If the request is granted, the power regulator circuit 196 generates control signals required to deliver power stored in the electrical power storage circuit 194 to the requesting UAV via one or more of the power distribution ports 198. In addition, in one aspect, the power regulator circuit 196 is configured to regulate the power source provided to the power distribution port. Such regulation improves the quality of the electrical power provided to the power distribution port 198 by eliminating power spikes, regulating power levels, suppressing noise, etc.

[0128] The generator section 200 includes a microturbine engine 202 and a generator 220. The microturbine engine 202 also includes a fuel storage 204, a combustion chamber 206, a compressor 208, an exhaust 210, and a turbine 212. In operation, fuel from the fuel storage 204 is provided to the combustion chamber 206, where the fuel is mixed with air A entering the compressor 208 and combusted. The resulting combustion gases drive the turbine 212, which in turn drives the generator 220 to generate electricity. The generated electricity is provided to the power conditioner circuit 196, which then regulates the electrical power and stores the electrical power in the electrical power storage circuit 194 for later delivery to the requesting UAV through the power distribution port 198, as previously described.

[0129] Furthermore, the present disclosure includes embodiments according to the following clauses:

[0130] 1. An unmanned aerial vehicle (UAV) cluster, comprising:

[0131] a plurality of mission UAVs arranged in a swarm, wherein a group of one or more mission UAVs are configured for controlled independent flight; and

[0132] A plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern, wherein the selected distribution pattern distributes the core UAVs according to predefined mission characteristics of the UAV cluster.

[0133] 2. A UAV cluster according to clause 1, wherein each core UAV and each task UAV in the UAV cluster have the same size and are consistent.

[0134] 3. A UAV cluster according to clause 1, wherein one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on the predefined mission characteristics.

[0135] 4. The UAV cluster of clause 3, wherein the predefined mission characteristics include one or more of the following:

[0136] the distance of the destination location from the launch location of the UAV cluster;

[0137] a type of mission that the set of one or more mission UAVs are configured to perform;

[0138] a number of predetermined intermediate waypoints of the UAV cluster between the launch location of the UAV cluster and the destination location; and

[0139] Load characteristics of the payload carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0140] 5. A UAV cluster according to clause 3, wherein one of the plurality of core UAVs to be distributed throughout the cluster comprises one of:

[0141] a propulsion UAV configured to augment the propulsion provided by each individual mission UAV in the swarm;

[0142] a fuel storage UAV including a fuel reservoir for storing fuel and configured to increase said fuel consumed by each individual mission UAV in said cluster;

[0143] a power UAV configured to increase the electrical power consumed by each individual mission UAV in the cluster; and

[0144] A sensor UAV including a sensor.

[0145] 6. A UAV cluster according to clause 5, wherein the sensor includes a camera configured to capture images of the destination location.

[0146] 7. A UAV cluster according to claim 5, wherein the sensor includes a radar.

[0147] 8. A UAV cluster according to claim 1, wherein a first core UAV is configured to control the operation of each of the other core UAVs.

[0148] 9. A UAV cluster according to clause 8, wherein a second core UAV is configured to control the operation of one or more of the multiple task UAVs, and the second core UAV is different from the first core UAV and is controlled by the first core UAV.

[0149] 10. An unmanned aerial vehicle (UAV) system comprising:

[0150] A plurality of individual UAVs arranged in a cluster, the plurality of individual UAVs comprising:

[0151] a plurality of mission UAVs, wherein a group of one or more mission UAVs are configured for controlled independent flight; and

[0152] A plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern, wherein the selected distribution pattern distributes the core UAVs within the cluster according to predefined mission characteristics of the UAV cluster.

[0153] 11. A UAV system according to clause 10, wherein the selected distribution pattern defines a corresponding position for each core UAV within the UAV cluster.

[0154] 12. A UAV system according to clause 10, wherein each UAV in the UAV cluster comprises the same size and is consistent.

[0155] 13. A UAV system according to clause 10, wherein one or both of the number and type of core UAVs to be distributed throughout the UAV cluster are selected based on predefined mission characteristics.

[0156] 14. The UAV system of clause 10, wherein the predefined mission characteristics include one or more of the following:

[0157] the distance of the destination location from the launch location of the UAV cluster;

[0158] a type of mission that the set of one or more mission UAVs are configured to perform;

[0159] a number of predetermined intermediate waypoints of the UAV cluster between the launch location of the UAV cluster and the destination location; and

[0160] Load characteristics of the payload carried by the UAV cluster and delivered by the group of one or more mission UAVs.

[0161] 15. The UAV system of clause 10, wherein the plurality of core UAVs comprises:

[0162] a first core UAV configured to control the operation of each of the other core UAVs in the cluster; and

[0163] A second core UAV, which is different from the first core UAV and is configured to control the operations of the multiple task UAVs.

[0164] 16. A method of operating a swarm of unmanned aerial vehicles (UAVs), the method comprising:

[0165] Determining mission characteristics of missions assigned to the UAV cluster; and

[0166] According to the characteristics of the task:

[0167] arranging a plurality of mission UAVs to form the UAV cluster, wherein one or more of the mission UAVs are configured for controlled independent flight;

[0168] selecting a distribution pattern of a plurality of core UAVs, wherein the distribution pattern identifies a corresponding position in the UAV cluster for each of the plurality of core UAVs; and

[0169] The multiple core UAVs are distributed throughout the UAV cluster according to the distribution pattern.

[0170] 17. The method of clause 16, further comprising selecting one or both of the number and type of core UAVs to be distributed throughout the UAV cluster based on the mission characteristics.

[0171] 18. The method of clause 16, wherein each of the mission UAVs and the core UAVs forming the UAV cluster comprises the same size and is identical, and wherein selecting the distribution pattern of the plurality of core UAVs based on the mission characteristics comprises selecting the distribution pattern based on one or more of:

[0172] the distance of the destination location from the launch location of the UAV cluster;

[0173] a type of mission that the set of one or more mission UAVs are configured to perform;

[0174] the number of intermediate waypoints between the launch location of the UAV cluster and the destination location of the UAV cluster; and

[0175] Characteristics of the payload carried by the UAV cluster and delivered by the one or more mission UAVs.

[0176] 19. A method according to clause 16, wherein the multiple task UAVs and the multiple core UAVs are releasably connected to each other in the UAV cluster, and wherein the method also includes communicatively connecting each of the core UAVs to one or more of the multiple task UAVs.

[0177] 20. The method according to clause 16, further comprising:

[0178] designating the first core UAV as a main core UAV;

[0179] controlling one or more secondary core UAVs using the primary core UAV; and

[0180] Use at least one of the second core UAVs to control one or more of the task UAVs.

[0181] 21. A self-aligning docking mechanism for an unmanned aerial vehicle (UAV), the self-aligning docking mechanism comprising:

[0182] an alignment circuit configured to generate an alignment signal representing a current alignment of the UAV with the proximal UAV in response to detecting an indicator signal transmitted by the proximal UAV;

[0183] a docking claw configured to clamp a corresponding docking claw disposed on the proximal UAV; and

[0184] A docking control circuit is configured to:

[0185] aligning the docking claw with the corresponding docking claw on the proximal UAV based on the alignment signal, and

[0186] The docking claws are controlled to clamp the corresponding docking claws to dock the UAV to the proximal UAV.

[0187] 22. The self-aligning docking mechanism of clause 21, further comprising an extendable arm configured to releasably attach to a corresponding extendable arm on the proximal UAV.

[0188] 23. According to the self-aligning docking mechanism of clause 22, the extendable arm includes a magnetic component, which is configured to be releasably connected to a corresponding magnetic component provided on the corresponding extendable arm of the proximal UAV.

[0189] 24. The self-aligning docking mechanism of clause 21, further comprising a servo drive operably connected to both the docking jaw and the docking control circuit, and wherein in order to align the docking jaw with the corresponding docking jaw, the docking control circuit is configured to:

[0190] In response to analyzing the alignment signal, determining whether the docking jaw is aligned with the corresponding docking jaw; and

[0191] In response to determining that the docking jaw and the corresponding docking jaw are not aligned, an alignment message is sent to the servo drive.

[0192] 25. The self-aligning docking mechanism according to clause 24, wherein in order to align the docking claw with the corresponding docking claw, the servo drive is configured to:

[0193] generating one or more alignment commands in response to receiving the alignment message from the docking control circuitry; and

[0194] The engaging jaws are rotated about a longitudinal axis using the one or more alignment commands.

[0195] 26. The self-aligning docking mechanism according to clause 21, wherein the docking claw is configured to move between an open state in which it is out of docking with the corresponding docking claw and a closed state in which it is docked with the corresponding docking claw.

[0196] 27. The self-aligning docking mechanism of clause 26, wherein the docking jaws include opposing first and second grippers constructed of a shape memory alloy, and wherein the docking control circuit is further configured to:

[0197] applying a first voltage to each of the first and second grippers to move the engaging jaws to the open state, wherein the first voltage meets or exceeds a threshold value; and

[0198] The first voltage applied to the first and second grippers is reduced to a second voltage to move the engaging jaws to the closed state, wherein the second voltage is less than the threshold value.

[0199] 28. The self-aligning docking mechanism of clause 27, wherein to reduce the first voltage to the second voltage, the docking control circuit is configured to stop applying the first voltage to the first and second grippers.

[0200] 29. A method of docking a first unmanned aerial vehicle (UAV) and a second UAV, the method being performed by the first UAV and comprising:

[0201] During the first docking phase:

[0202] In response to detecting the indicator signal transmitted by the second UAV, generating an alignment signal indicative of a current alignment state between the first and second UAVs; and

[0203] During the second docking phase:

[0204] aligning a docking claw of the first UAV with a corresponding docking claw of the second UAV based on the alignment signal; and

[0205] Dock the first UAV and the second UAV, wherein the docking includes controlling the docking claws of the first UAV to clamp the corresponding docking claws of the second UAV.

[0206] 30. The method of clause 29, further comprising, during the first docking phase, releasably connecting an arm extending from the first UAV to a corresponding arm extending from the second UAV.

[0207] 31. A method according to clause 30, wherein releasably connecting the arm extending from the first UAV to the corresponding arm extending from the second UAV includes: magnetically connecting the arm extending from the first UAV to the corresponding arm extending from the second UAV.

[0208] 32. A method according to clause 29, wherein aligning the docking claw of the first UAV to the corresponding docking claw of the second UAV based on the alignment signal includes: rotating the docking claw of the first UAV around a longitudinal axis in response to determining that the first UAV and the second UAV are not aligned.

[0209] 33. The method of clause 29, wherein the docking claw of the first UAV comprises opposing first and second grippers comprised of a shape memory alloy, and wherein the method further comprises:

[0210] applying a first voltage to each of the first and second grippers to open the engaging jaws, wherein the first voltage meets or exceeds a threshold value; and

[0211] The first voltage applied to the first and second grippers is reduced to a second voltage to close the engaging jaws, wherein the second voltage is less than the threshold value.

[0212] 34. The method of clause 33, wherein reducing the first voltage to the second voltage comprises ceasing to apply the first voltage to the first and second clampers.

[0213] 35. A non-transitory computer-readable medium storing software instructions that, when executed by a processing circuit on a first unmanned aerial vehicle (UAV), cause the processing circuit to:

[0214] During the first docking phase:

[0215] In response to detecting the indicator signal transmitted by the second UAV, generating an alignment signal indicative of a current alignment state between a docking jaw of the first UAV and a corresponding docking jaw of a second UAV; and

[0216] During the second docking phase:

[0217] aligning the docking claw of the first UAV with the corresponding docking claw of the second UAV based on the alignment signal; and

[0218] The first and second UAVs are docked by controlling the docking claws of the first UAV to clamp the corresponding docking claws of the second UAV.

[0219] The foregoing description and drawings represent non-limiting examples of the methods and apparatuses taught herein. Thus, the aspects of the present disclosure are not limited by the foregoing description and drawings. Instead, the aspects of the present disclosure are limited only by the appended claims and their legal equivalents.

Claims

1. A self-aligning docking mechanism (110) for an unmanned aerial vehicle (UAV) (12, 14, 16, 30, 40), the self-aligning docking mechanism comprising: an alignment circuit (118a) configured to generate an alignment signal indicative of a current alignment of the UAV (12a) with a proximal UAV (12b) in response to detecting an indicator signal transmitted by a proximal UAV; a docking claw (130a) configured to clamp a corresponding docking claw (130b) disposed on the proximal UAV; and Docking control circuitry (122, 124) configured to: aligning the docking claw with the corresponding docking claw on the proximal UAV based on the alignment signal; and controlling the docking claws to clamp the corresponding docking claws to dock the UAV to the proximal UAV; as well as a servo drive operably connected to both the docking jaw and the docking control circuit, and wherein, in order to align the docking jaw with the corresponding docking jaw, the docking control circuit is further configured to: determining whether the docking jaw is aligned with the corresponding docking jaw in response to analyzing the alignment signal; as well as In response to determining that the docking jaw and the corresponding docking jaw are misaligned, an alignment message is sent to the servo drive.

2. The self-aligning docking mechanism of claim 1 , further comprising an extendable arm configured to releasably attach to a corresponding extendable arm on the proximal UAV.

3. A self-aligning docking mechanism according to claim 2, wherein the extendable arm includes a magnetic component, which is configured to be releasably connected to a corresponding magnetic component provided on the corresponding extendable arm of the proximal UAV.

4. The self-aligning docking mechanism according to claim 1, wherein: In order to align the docking claw with the corresponding docking claw, the servo drive is configured to: generating one or more alignment commands in response to receiving the alignment message from the docking control circuit; as well as The one or more alignment commands are used to rotate the engagement jaws about the longitudinal axis (1).

5. The self-aligning docking mechanism according to any one of claims 1 to 4, wherein the docking claw is configured to move between an open state in which it is detached from the corresponding docking claw and a closed state in which it is docked with the corresponding docking claw, and wherein the docking claw (130a) comprises first and second opposing grippers (132, 134) made of shape memory alloy, and wherein the docking control circuit is further configured to: applying a first voltage to each of the first and second grippers to move the engaging jaws to the open state, wherein the first voltage meets or exceeds a threshold value; and The first voltage applied to the first and second grippers is reduced to a second voltage to move the engaging jaws to the closed state, wherein the second voltage is less than the threshold value. 6 . The self-aligning docking mechanism of claim 5 , wherein in order to reduce the first voltage to the second voltage, the docking control circuit is configured to stop applying the first voltage to the first and second grippers.

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