Apparatus, system and method for unmanned aerial vehicles

Abstract

Disclosed are devices, systems, and methods for unmanned aerial vehicles. The disclosed invention includes personal unmanned aerial vehicles (UAVs) and UAV universal docking ports "docking ports" that are incorporated and / or attached to headwear, footwear, clothing, devices, equipment, land vehicles, air vehicles, water vehicles, and space vehicles, UAVs, buildings, wireless towers, and other mobile or stationary objects and surfaces collectively referred to as "docking stations." The docking stations can have one or more docking ports for UAV docking, networking, and charging or fueling. The docking ports can also include wireless power transmission for remote wireless charging of one or more UAVs. The UAV docking ports can be integrated with a variety of sensors (e.g., light emitters and cameras) that enable fully autonomous and / or semi-autonomous launching of UAVs and / or docking of UAVs on a series of docking stations.

Description

[0001] This application is a divisional application of Chinese Patent Application No. 2016800161871, filed on January 19, 2016, entitled "Apparatus, System and Method for Unmanned Aerial Vehicles".

[0002] Cross-references to related applications

[0003] This application claims the benefit of provisional application No. 62 / 104836, filed on January 18, 2015, the entire contents of which are incorporated herein by reference. Technical Field

[0004] This invention relates to the fields of unmanned aerial vehicles (UAVs), docking ports, docking systems, docking vehicles, docking stations, and wearable computing, including but not limited to wearable devices, clothing, gear, equipment, and other apparel. More specifically, this invention relates to systems and methods for the autonomous operation, flight, navigation, networking, docking, launch, charging, and wireless power transmission, sensing, management, and distribution of UAVs. Background Technology

[0005] Small personal UAVs can come in various forms. They typically must be handheld and manually launched, operated, and charged. They have limited power and limited flight range, and are usually stored in portable containers. This makes them inconvenient in terms of rapid launch, long-distance travel, autonomous operation, docking, charging, and storage. For many applications where UAVs can be useful assistants, such as monitoring personal safety, traffic, law enforcement, package delivery, media broadcasting, and entertainment (e.g., movies and sporting events) in urban environments, and in remote environments such as hiking, camping, emergency medical care, and military applications, their users need to keep their hands free for other applications. Summary of the Invention

[0006] UAVs and UAV universal docking, networking, and charging ports ("docking ports") for autonomous UAV operation, including but not limited to transmission, flight, navigation, networking, docking, charging, and wireless power transmission, sensing, management, and distribution from one or more wearable, mobile, vehicle-mounted, fixed, or other docking, networking, and charging stations ("docking stations"). Embodiments of the present invention enable continuous light and optical depth mapping and imaging of the UAV environment, infrared and laser guidance for autonomous flight navigation and docking at any angle, and methods for in-flight wireless data networking and wireless power transmission, sensing, charging, and distribution. Attached Figure Description

[0007] Figure 1AThe illustration shows a helmet and UAV guidance system having a docking port for a small personal UAV according to one embodiment of the present disclosure, and a perspective view of a UAV configured to launch from the helmet and land on the helmet; the helmet shown is a military helmet, but the headgear can take many other forms, including various sports helmets and safety helmets as well as other headgear such as hats.

[0008] Figure 1B and Figure 2A A perspective view of a helmet according to an embodiment of the present disclosure is shown, wherein the helmet is attached to a UAV and the UAV is in an extended flight posture, either in preparation for launch, immediately upon landing, or during docking.

[0009] Figure 1C , Figure 3A and Figure 3B A perspective view of the helmet is shown, in which the UAV is fully docked and enclosed within the helmet, and the shape of the UAV conforms to the shape of the docking area and the overall curves of the helmet. According to one embodiment of this disclosure, the UAV can be secured to the helmet by a variety of means, including passive friction clamps and active locking mechanisms, which can engage and disengage autonomously by the UAV or docking device, or engage and disengage upon receiving a command from the user.

[0010] Figure 1D A helmet with a docking port and a docking miniature UAV are shown, wherein the docking miniature UAV does not alter its form or articulate its arm to conform to the shape of the docking surface. The UAV docking port can optionally be attached or secured to any existing helmet or headgear or other device or object to increase the UAV docking capability of the item.

[0011] Figure 2B A rear perspective view of a helmet with a UAV hovering above it, according to one embodiment of the present disclosure, wherein the UAV has just taken off or is just before docking onto the helmet. The UAV is capable of tracking, following, and autonomously landing on the helmet docking section.

[0012] Figure 4AAn armed small personal UAV with a camera and a dual-barrel projectile launcher is illustrated according to one embodiment of this disclosure. The launcher can fire lethal or non-lethal weapon systems, such as small lethal devices. According to one embodiment, the system may include CO2-propelled lethal projectiles, explosive darts for combat situations, stun darts, paint or DNA markers for neutralization or identification of criminals or combatants, tear gas, smoke grenades, stun grenades, or small GPS tracking devices (e.g., tracking and launching devices magnetically attached to vehicles) or devices using electrical, mechanical, or electromagnetic pulse mechanisms to disable a target vehicle or incapacitate persons inside a target vehicle, or, for example, drug-eluting darts that may be useful for hunting supervisors.

[0013] Figures 4B to 4C A perspective view of an armed UAV docked to a user's helmet according to an embodiment of this disclosure is shown. Cameras, sensors, and projectile launchers can be configured to operate even when docked to the helmet or stationary on a surface. The helmet wearer can control the UAV's functions and view camera and sensor feeds on a digital display. The digital display can be integrated into eyeglasses, a face mask, a contact lens, etc., or it can be a protruding head-up display. When the UAV is docked, landed on a surface, or in the air, the user can aim and fire projectiles from the UAV.

[0014] Figure 5 A perspective view of a personal UAV according to one embodiment of the present disclosure is shown, wherein the personal UAV lands on the ground or surface rather than on a docking station. In the illustrated embodiment, the rotor blades are still protected because the UAV arm is flexible, allowing the edge of the protective ring surrounding the rotor blades to function as feet or wheels.

[0015] Figure 6 A perspective view of a personal UAV according to one embodiment of the present disclosure is shown, wherein the personal UAV lands on the ground or surface rather than on a docking station, and wherein a protective ring includes wheels. The UAV shown is capable of traveling on the ground using its wheels, as well as flying and landing.

[0016] Figure 7AA perspective view of a UAV mounted on a backpack according to one embodiment of the present disclosure is shown. The UAV is capable of launching from and landing on the backpack. The backpack may optionally include an integrated docking port and a UAV securing device or system, such that the UAV can be charged by a built-in, integrated, or attached power source and / or refueled by a built-in, integrated, or attached fuel source, and that the backpack has data connectivity between the UAV and a computer control mechanism in or on the backpack or on the user. Alternatively, this functionality may be provided by a non-integrated docking port that can be attached to a variety of different general-purpose backpacks or other devices or objects.

[0017] Figure 7B A backpack and a small UAV with a UAV docking port are shown. The small UAV does not change shape or form to conform to the docking surface below. The UAV docking port can be attached to any existing backpack, appliance, or object to provide UAV docking capability.

[0018] Figure 8 A perspective view of a boot and a UAV mounted on the boot, according to one embodiment of the present disclosure, is shown. The boot may have an integrated docking port, or the docking port may be an attachable device that can be used with boots and shoes of various sizes and shapes.

[0019] Figures 9A to 9C A perspective view of an attachable UAV docking port and a docked UAV on a footwear article, according to an embodiment of the present disclosure, is shown. Figure 9A A UAV is shown docking and attaching to footwear, wherein the UAV changes its shape to conform to the footwear. Figure 9B A UAV is shown, wherein the UAV's arm is extended to a flight position in preparation for takeoff or landing. Figure 9C A UAV, launched or preparing to land, is shown hovering above footwear. The attachable docking port is visible in the illustration but can also be concealed and can take any form. In the illustrated type, according to some embodiments, the docking port uses clips that allow it to be secured to the laces of the footwear. According to other embodiments, the UAV docking port can be integrated into the footwear.

[0020] Figure 10A perspective view is shown of a UAV or remotely controlled vehicle that can drive on the ground and dock with shoes or boots according to one embodiment of the present disclosure. According to one embodiment of the present disclosure, the UAV shown is capable of flying and rolling on the ground, but alternatively, it can only be one of these two modes of movement. According to one embodiment of the present disclosure, footwear items may include any combination of an auxiliary battery, a solar panel, and a piezoelectric generator that generates electrical energy from walking or running.

[0021] Figure 11 A perspective view of a military or law enforcement ballistic vest with integrated docking ports for one or more UAVs, according to an embodiment of this disclosure, is shown. The UAVs are capable of autonomous launch and docking.

[0022] Figure 12 A perspective view of a military or law enforcement bulletproof vest with a modular attachable docking port for one or more UAVs, according to one embodiment of the present disclosure, is shown. In the illustrated embodiment, the docking port has an additional locking mechanism or gripper for securing the UAV. The user may also wear a helmet with its own helmet-attached UAV and an integrated UAV feedback and control system.

[0023] Figures 13A to 13B A perspective view of an outer garment (e.g., jacket, blouse, shirt, or vest) according to one embodiment of the present disclosure is shown, the outer garment having an integrated UAV docking port located generally on the wearer's shoulder. The outer garment may provide charging and data connectivity using internal wiring and has pockets for holding an auxiliary battery and / or a solar generator or a piezoelectric generator that generates electricity from the wearer's movement. The UAV is capable of autonomous or semi-autonomous launch from and landing on the docking port. The UAV and other UAVs shown in the figures can be controlled by any remote control device, including but not limited to smartphones, smartwatches, smartbands, handheld flight controllers, smart glasses, head-up displays, augmented reality displays and virtual reality displays, body motion, head motion and / or eye motion and / or facial expression tracking devices, voice recognition devices, or brain pattern recognition devices.

[0024] Figure 14 A perspective view of an outer garment (e.g., jacket, blouse, shirt, or vest) according to one embodiment of the present disclosure is shown, the outer garment having an integrated UAV docking port located generally on the wearer's chest. The docking port may optionally provide charging and data connectivity capabilities as described in the first two figures.

[0025] Figure 15A perspective view of a jacket (e.g., a shirt) according to an embodiment of the present disclosure is shown, the jacket having attachable UAV docking ports clipped onto pockets.

[0026] Figures 16A to 16C and Figures 17A to 17C A UAV docking station is shown, capable of simultaneously docking, charging, or refueling multiple UAVs. The docking station can be connected to a power grid and communication network, and / or optionally utilize renewable energy sources such as solar, wind, or wave energy to generate electricity for charging the UAVs and powering communications. The docking station can provide barriers and protection for the UAVs from weather and other threats. The docking station can be installed on poles such as lampposts (as shown), telecommunications poles and towers, power towers, and can be located at street level, on building rooftops or sides, inside buildings or underground facilities, or on ships, vehicles, spacecraft, aircraft, motherships, UAVs, or anywhere else.

[0027] During docking, the UAV can also perform useful functions. For example, the UAV shown can function as a security camera mounted on a pole most of the time, only disengaging and flying when instructed to search for or follow a moving target. Targets can be tracked using various markers, such as visual recognition, pattern recognition, infrared or ultraviolet features, biometrics (walking gait characteristics, face / iris recognition, etc.), or tags attached to the target (e.g., tracking transmitters, RFID tags, dye or DNA-introducing sprays (e.g., used by some security devices to mark intruders or thieves), radioactive spots, or RFID chips on the target, etc.). The docking port can include a moving part for locking onto the UAV, or alternatively, the moving part can be integrated into the UAV. The latter configuration allows the UAV to dock and disengage autonomously without relying on the action or permission of the docking station. The absence of moving parts simplifies the structure of the docking station, making them more durable and maintenance-free. The docking station can provide remote power to multiple UACs via a concentrated beam of light, such as laser, microwave, or other transmission methods.

[0028] Figure 18AOne side of the UAV is shown, featuring a docking port, sensors and transmitters for assisting autonomous docking, and feet or legs for landing. While this side can face upwards during flight and docking, it can also be inverted to face downwards during flight, landing, or docking by controlling the rotation direction of its rotor. The UAV and the receiving docking port can be in any orientation, allowing the UAV to dock below, on top of, or close to the side of the docking mechanism. Therefore, the docking port can be mounted under a roof, close to a wall, on a flat or sloped surface, or on a moving object that may change orientation at any time during movement. The ability to mount the docking device under a roof offers significant benefits, for example, in saving space and preventing the UAV from obstructing pedestrian traffic.

[0029] Figure 18B One side of the UAV is shown, featuring cameras and sensors for surveillance, photography, communication, and other purposes. Typically, this side faces downwards during flight, but the UAV can be inverted during flight so that this side faces upwards. Cameras can include omnidirectional and all-around cameras, capable of simultaneously observing and recording at multiple zoom distances, resolutions, fields of view, apertures, and focal points, as well as recording surround video for display in virtual reality and augmented reality headsets, IMAX theaters, etc. Cameras can be in a fixed position and / or mounted on gimbals, or on mounts whose orientation can be changed upon receiving remote or autonomous commands.

[0030] Figure 19A Two UAVs are shown docking with each other in flight. The UAVs shown have docking mechanisms on both their upper and lower surfaces. These docking mechanisms can be configured with the female port on top and the male port on the bottom, or vice versa. Alternatively, the docking ports can be non-specific and configured such that either side of one UAV can dock with either side of the other UAV. Transmitters and sensors around and inside the docking mechanisms enable the UAVs to locate and track each other for precise docking. In addition to stacking the UAVs vertically, they can be joined laterally to form a three-dimensional array of interconnected, orthogonally flying UAVs.

[0031] Figure 19B The diagram shows multiple UAVs stacked on a single docking station. The UAVs can individually dock and detach from each other, dock and detach from the docking station, or dock with each other in flight and then dock at the docking station.

[0032] Figure 20AA matrix of interconnected UAVs is shown, which are docked to each other along their sides to extend range and height. The UAVs can dynamically form groups with various sizes, shapes, and capabilities. As illustrated, the docking ports can be configured to allow UAVs to change orientation relative to adjacent connected UAVs. For example, in the illustration, the central group of UAVs generates vertical lift, while the outer UAVs are oriented to provide forward thrust.

[0033] Figure 20B The diagram illustrates a UAV connectivity matrix capable of supporting extended power supplies and cargo to be delivered. This allows the number of UAVs to dynamically adapt to the weight and size of the packages and the distances they must fly to complete the mission. UAVs that are not directly docked can also cooperate to carry packages or nets that can be deployed on targets (e.g., wildlife, for conservation purposes).

[0034] Figures 21A to 21B A matrix of smaller UAVs docked with a larger "mothership" UAV is shown. This enables extended range, more energy-efficient flight, and allows the mothership to release smaller UAVs from higher altitudes to target areas and coordinate their operation. At higher altitudes, it can have improved communication with remotely based operations, such as line-of-sight or satellite communication. The mothership can take various forms, including spacecraft, airships, UAVs, and aircraft.

[0035] Figures 22A to 22C A mobile UAV docking station and a UAV mounted on a vehicle are illustrated, wherein the UAV is capable of autonomous, semi-autonomous, or remotely controlled operation. The mobile docking station can be mounted on any vehicle, including but not limited to wheeled land vehicles, aircraft, and sea vessels such as ships and submarines.

[0036] Figure 23 The illustration depicts an urban landscape with a series of UAV docking and support stations installed on buildings, streets, and other locations, as well as on mobile platforms, and a series of UAVs docked in the air. The UAVs and docking ports can communicate with each other to form a network covering the city. The docking stations are also capable of providing remote power to the UACs in the air via concentrated beams.

[0037] Figure 24 A UAV is shown.

[0038] Figure 25This illustrates some of the capabilities and considerations for autonomous operation and docking of UAVs. Other factors may include acquiring and tracking targets using sensor arrays (optical sensors, infrared sensors, laser sensors, RF sensors, etc.), calculating the distance to the target, the target's orientation, velocity / acceleration, environmental factors such as wind speed, altitude and air pressure, gravity and potential obstacles, and the target's orientation.

[0039] Throughout this specification, similar or identical reference numerals may be used to identify similar or identical elements in various embodiments and drawings. While specific embodiments of the invention have been shown, the invention is not limited to the specific forms or arrangements of components described and illustrated. The scope of the invention is defined by the appended claims and their equivalents. Detailed Implementation

[0040] For purposes of description and not limitation, specific details, such as particular embodiments, processes, techniques, etc., are set forth in the following description to provide a full understanding of the invention. However, it will be apparent to those skilled in the art that the invention may be practiced by other embodiments that depart from these specific details.

[0041] There is a need for handheld, wearable, fully autonomous UAVs, including but not limited to launch, flight, navigation, networking, docking, and charging, as well as a method for long-range wireless power transmission, sensing, management, and distribution for continuous long-distance UAV travel, which obviously overcomes the limitations of battery and fuel storage.

[0042] The technical features described in this application can be used to construct various embodiments of devices, systems, and methods for unmanned aerial vehicles (UAVs). A UAV has one or more universal docking, networking, and charging ports, referred to as "docking ports." These universal UAV docking ports are designed to attach to and / or be incorporated into various garments, equipment, devices, vehicles, buildings, and other mobile or stationary objects that serve as docking stations for one or more UAVs. The docking port may include light emitters and sensors and / or one or more cameras for real-time optical and optical depth mapping and imaging of all objects in the field of view. The optical imaging system may include a laser ranging system capable of continuously identifying the precise relative position and distance to the docking port of one or more UAVs and / or other docking stations. The optical and optical imaging and / or laser guidance system may also be used for data networking and wireless power transmission.

[0043] In embodiments of the invention, the docking port of the UAV and / or docking station may further include an accelerometer for measuring the motion and velocity of the UAV and / or docking station. The docking port may include an altimeter for measuring altitude. The docking port (“docking port”) on the UAV and docking station may also include a compass and a multi-axis gyroscope for continuously identifying the directional motion, orientation, and relative spatial position of the docking port and docking station. The docking port on the UAV and docking station may also include a GPS module for location positioning. The docking port may also include its own wide-area wireless communication module for cellular and / or satellite communication and cellular location positioning. The docking port may support its own satellite, cellular, WiMax, WiFi, or other wide-area or local area network connections. The docking port may include its own local wireless communication module for WiMax and / or WiFi communication, peer-to-peer networks, and / or WiFi hotspots and routers for one or more networked docking ports, docking stations, and / or other networked devices, vehicles, equipment, clothing, and / or body sensors. The docking port may include its own personal local wireless communication module for Bluetooth. The docking port may also include a multi-channel radio frequency (RF) and / or near field communication (NFC) module for short-range wireless networking, communication, relative positioning, and / or as a wireless sensor hub and / or sensor node in a wireless sensor network (WSN) to operate with other networked docking interfaces, docking stations, and UAVs. The docking port may also serve as a wearable sensor hub, networking with one or more clothing and / or body sensors, devices, appliances, and equipment to create a mesh network and real-time map of people and wearable docking ports used as docking stations for one or more UAVs.

[0044] In embodiments of the present invention, the UAV includes a universal docking port, which serves as a standard physical docking, communication, and charging connection between two or more docked UAVs, between a UAV and a docking station, and / or between multiple UAVs and docking stations. The docking port can also serve as a wireless power supply hub for one or more UAVs and / or one or more other docking stations within its range. Furthermore, the docking port can serve as a wireless power supply hub for various mobile devices, wearable devices, and other electronic devices within its range. Finally, the docking port can serve as a wireless power supply hub for various vehicles within its range.

[0045] In embodiments of the invention, the docking port may have its own battery power source independent of the UAV or docking station. The docking port may be connected to the UAV or docking station's battery power source. The docking port may be directly connected to a power source, serving as the primary charging port for the UAV or docking station. The docking port may include or be connected to a power generation system such as a solar panel, piezoelectric power generation system, or other power generation system, or the docking port may be connected to a power generation system attached to or incorporated into the UAV or docking station.

[0046] In embodiments of the invention, the docking port may include its own data processing system, either independently of or in coordination with the onboard data processing module of the UAV or docking station, to process optical and optical depth mapping, imaging, positioning, orientation and other sensor data, flight, navigation, networking, docking, transmission, charging, power transmission, sensing, management, distribution and / or other operational data. In other embodiments of the invention, the docking port may be a fully integrated system of the UAV or docking station, with or without independent processing capabilities.

[0047] In embodiments of the invention, two or more UAVs having one or more docking ports can dock with each other in flight to form a connected UAV group. The UAV group can fly and operate as a whole and perform tasks as a single operational unit. The UAV group can also allocate data, power, and operational functions among all or some of the docked UAVs based on pre-programmed operational, flight, navigation, safety, and other parameters, and / or assign functions to individual docked UAVs. The UAV group can operate in a federated, hierarchical, or other network configuration, wherein functions are distributed across all the grouped UAVs based on pre-allocated functions and / or based on the different capabilities and functions of each individual UAV in the UAV group.

[0048] In embodiments of the present invention, the UAV docking port or docking station includes a multi-channel wireless power transmitter and / or receiver for transmitting power to and / or receiving power from one or more remote power transmission and / or UAV docking ports and / or UAV docking stations. The wireless transmitter and receiver of the docking port or docking station can use any or a combination of wireless power transmission methods, including but not limited to time-varying electric fields, magnetic fields, radio waves, microwaves, and / or infrared or visible light waves for wireless power transmission to and from one or more UAV docking ports and / or docking stations.

[0049] In embodiments of the present invention, the docking port of the UAV includes an antenna for receiving wireless power transmission from the transmitting docking port and / or docking station. The UAV may also include an RF-DC conversion module for converting wireless signals transmitted from remote docking ports, docking stations, devices, vehicles, UAVs, aircraft towers, and / or satellites into electrical power. In embodiments of the present invention, the docking station and / or UAV docking port may include one or more short-range, medium-range, and / or far-field power transmission systems, including but not limited to non-resonant capacitor or inductive coupling systems for inductive charging of the docked UAV, and resonant capacitor or inductive coupling systems for short-range wireless power transmission to one or more UAVs, docking ports, and / or docking stations. In some embodiments, the docking station and / or UAV docking port includes an optical receiver and an antenna for receiving power from one or more high-intensity light waves and / or laser beams to receive wireless power from one or more remote docking ports and / or docking stations capable of high-intensity light imaging.

[0050] As disclosed herein, helmets, safety helmets, or other headgear include helmets that can be used as docking stations, including one or more external or enclosed docking ports for securing one or more UAVs. Docking ports can be attached to or incorporated into one or more clothing, headgear, and / or footwear items to function as docking stations for one or more UAVs. Docking ports can be attached to and / or incorporated into backpacks and / or other equipment and gear to function as docking stations for one or more UAVs. One or more docking ports can be attached to and / or incorporated into cars, trucks, buses, motorcycles, bicycles, ATVs, SUVs, tanks, or other land vehicles. One or more docking ports can be attached to and / or incorporated into ships, submarines, or other water vehicles. One or more docking ports can be attached to and / or incorporated into aircraft, hovercraft, spacecraft, rockets, satellites, or other air or space vehicles to function as mobile docking stations for one or more UAVs. UAVs may include one or more docking ports for docking with docking stations. UAVs may include one or more docking ports for docking with one or more other UAVs. When docking with a docking station, a UAV with multiple ports can be used as a docking station for one or more other UAVs.

[0051] The UAV's power supply can be provided by an integrated battery located in, on, or elsewhere on the wearer's body, within the helmet. Furthermore, the UAV can be shaped or articulated to conform to the curvature or contour of the helmet, docking device, or surfaces near the docking port for a more streamlined result. The docking mechanism may include mechanisms for propelling the UAV for rapid launch, such as magnetic, electromagnetic, or electromechanical capture and release mechanisms, battery-propelled, fuel-propelled mechanisms, or CO2-tank-driven catapults or other charging or refueling mechanisms. The UAV may integrate an array of multiple sensors, including cameras, and is capable of autonomous, non-autonomous, or semi-autonomous launch and / or landing on the docking station. Various devices for docking station pointing, identification, and positioning can be used to assist the UAV in docking station acquisition and aiming, such as visible light emitters, sensors, and cameras for depth mapping and imaging of surrounding objects and the environment. Visible light or infrared laser imaging and ranging systems, or visual markers or other visual inspection devices on the docking station, can also be used, and optionally combined with other mechanisms (e.g., radio transmissions to and from the docking port and / or docking station) to assist the UAV in acquiring the landing area, designating, identifying, and locating the target. Both the UAV and the helmet can include global, local, and relative position tracking systems (e.g., GPS chips) and wide-area, local, and personal area wireless networking capabilities, such as satellite, cellular, WiMax, WiFi, Bluetooth, and optical networking using infrared, laser, miniature accelerometers, and cameras, enabling them to transmit their absolute and relative positions to each other. These capabilities can be used to facilitate functions such as autonomous docking upon mission completion or battery recharging, the return of the UAV to the docking station after flying out of the wearer's direct line of sight, and a "follow mode" in which the UAV follows a moving docking station by maintaining line-of-sight and / or wireless communication with one or more networked docking ports and / or docking stations within relevant X, Y, and Z offsets (which are controlled by the user, or by preset selection, or by other algorithms that take into account various factors (e.g., obstacles) and other purposes (e.g., monitoring nearby hazards)). Additionally, portable solar panels or piezoelectric generators worn on the user or integrated into the helmet, clothing, equipment, vehicle, and other mobile or stationary docking stations can assist in charging the UAV.

[0052] The disclosed invention may include a UAV flight and operation control mechanism integrated into the helmet, visor, or goggles. The mechanism may include a feedback mechanism, wherein video, audio, and night vision footage from the personal UAV can be streamed in real time to a microphone in the wearer's helmet, a digital display or head-up display integrated into the user's goggles, and an augmented reality or virtual reality display projection system. The user may optionally control the UAV movement via any combination of means such as voice control, head movement, eye movement, hand movement, body movement, foot movement, and / or a handheld or manual controller, as well as a smartphone and smart wristband. The helmet or headgear may optionally include cameras and other sensors that can be used in conjunction with data from the UAV to coordinate UAV activity. Real-time data and video feeds from the UAV, along with optional surround video lenses, can be projected onto a display on the helmet wearer to provide first-person observer control of the UAV. Users can optionally instruct the UAV to face and / or fly in any direction that the helmet wearer is focusing, or select autonomous control of the UAV, or control it via alternative devices such as a voice command controller or a handheld controller, so that the helmet wearer can turn their head in any direction to view the video feed from the camera facing that direction without affecting the UAV’s orientation or flight path.

[0053] As shown in the figure, the personal UAV may also include projectiles and lethal or non-lethal weapon systems, such as small lethal devices. According to one embodiment, the system may include CO2-propelled lethal projectiles, explosive darts for combat situations, stun darts for subduing criminals, tear gas, smoke grenades, or stun grenades, or drug darts that may be useful for hunting supervisors. According to some embodiments, when the UAV is docked to a helmet or other structure supporting the docking station, the user may also optionally perform some UAV functions, including but not limited to camera feeds and any integrated weapons. As shown in the figure, according to some embodiments, the UAV may include a forward-facing projectile launcher, as well as cameras and night vision systems, and other sensors for functions such as weapon aiming, maneuvering, medical or emergency services, and / or other UAV services and / or robotic functions. In the illustrated embodiment, in addition to providing these functions in flight, the cameras, sensors, and projectile launcher may also optionally function when the UAV is docked to the user's helmet or other docking platform, and when in the air, parked, or moving on a surface.

[0054] According to some embodiments, portable UAVs can change their shape or articulate their propulsion arms to alter the attitude of the propulsion mechanism, enabling the UAV to land on a variety of surfaces, including personal docking stations and other surfaces. In the example shown, the UAV has four rotors configured as a quadcopter, but may have as few as one or more, such as rotors configured as an octocopter, or other propulsion mechanisms. The rotors shown have a protective ring around them, allowing the UAV to land on any surface by tilting the protective ring to contact the underlying surface at its outer edge. Floats may be integrated to enable the UAV to land on water (not shown). The UAV may also include hubed or hubless wheels, enabling it to travel on surfaces, thereby saving energy or for stealth operations. In one illustrated embodiment, the UAV uses hubless wheels configured around a protective ring surrounding the rotor blades. The UAV shown is capable of dynamically twisting or articulating the wheels to achieve optimal travel paths on the ground and during turns. The outer surface of the UAV arm can be bonded with flexible materials or composed of flexible materials, as shown in the figure. The arm can employ any bending mechanism, such as those commonly used in robotic devices, including but not limited to servo mechanisms, cables pulled by tensioning mechanisms, or cables wound on one or more winding mechanisms and possibly subject to spring reaction, hydraulic devices, and nanomuscle-like devices that employ electrical pulse contraction and relaxation mechanisms that simulate muscle function, as well as other common engagement bending control mechanisms.

[0055] The method for docking a UAV to a wearer is also disclosed. This method includes providing target acquisition guidance to the docking station (which may optionally include any combination of visual markers, LED lights, infrared LEDs, ultrasonic or radio transmitters, lasers, and sensors complementary to the transmitters, as well as general location tracking technologies such as GPS positioning), enabling the UAV to autonomously acquire the docking port of the docking station and dock with it.

[0056] Continuous feedback to the wearer of the docking port can include any combination of audio feedback, visual feedback, or tactile feedback, such as vibration at different locations on the user's body, so that the wearer of the docking port can be automatically prompted and instructed to temporarily move or pause movement or orient his or her body, head, or feet, such as tilting forward, so that the UAV can or is easier to dock with the docking port.

[0057] It also discloses footwear articles, such as shoes or boots, with integrated or attachable UAV docking ports, and UAVs capable of docking with said footwear articles and conforming generally to the external shape of said footwear articles or feet to maintain a low profile during docking and eliminate the danger of UAVs tripping or getting caught on other objects while walking or running. In addition to providing docking ports for flying UAVs, docking ports mounted on footwear articles can also dock rolling UAVs (e.g., remote-controlled vehicles) or UAVs capable of rolling and flying on surfaces.

[0058] The report also discloses outerwear with integrated or attached UAV docking ports, including but not limited to bulletproof vests, hunting vests, jackets, shirts, and trousers, featuring optional data links and UAV charging capabilities such as auxiliary batteries. The docking ports can be incorporated into the outerwear, enabling simultaneous support for multiple UAVs. A jacket or outerwear and an "epaulette" UAV are also disclosed, the jacket or outerwear having docking ports mounted on the shoulders or collar, the "epaulette" UAV capable of landing on or launching from the docking ports mounted on the shoulders and optionally conforming to the general shape of the shoulders for optimal comfort and low profile. Backpacks and other personal bags and pouches, including but not limited to waist packs, are also disclosed, capable of including UAV docking ports. A UAV capable of docking to docking ports mounted on backpacks, or even docking to backpacks and personal bags and pouches without docking ports, is also disclosed, wherein the UAV has a clamping mechanism capable of gripping and holding the backpack, bag, pouch, or other surfaces such as helmets or footwear. The document also discloses a small, multi-functional docking port capable of attaching to a variety of objects and surfaces via various devices, such as shirt or jacket pockets or shoe surfaces, including but not limited to clips, magnets, buckles, ties, ropes, hook-and-loop materials, etc. A method is also disclosed in which the personal UAV docking port includes one or more cameras capable of streaming video and sensor footage in real time to multiple users on the ground and a remote operations coordinator, allowing the users to individually obtain optimal battlefield awareness of their position relative to each other and enemy combatants. Personal or “master UAVs” can exchange or coordinate UAV control among friendly forces. UAVs can also operate autonomously, semi-autonomously, or under operator control.

[0059] The report also disclosed the ability of UAV groups to form temporary or self-organizing communication networks, enabling individuals or organizations on the ground to communicate more easily with each other using any of a variety of communication methods such as radio waves, mobile phone communications, or even lasers, for secure and direct communication. It also disclosed a mothership UAV with multiple docking ports, capable of supporting multiple smaller UAVs, providing them with refueling or charging, whether the UAV is in the air, on the ground, or in the water.

[0060] For simplicity, the UAVs shown in the attached figures are all quadcopters, but they can take any different form, have more or fewer rotors, or use any other type of feasible propulsion system currently available or being developed in the future.

[0061] Other aspects and advantages of embodiments of this disclosure will become apparent from the following detailed description, taken in conjunction with the accompanying drawings and illustrated by way of example of the principles of this disclosure.

[0062] Figures 1A to 3BA perspective view is shown of a helmet 200 according to one embodiment of the present disclosure, UAV control goggles 300 for a small personal UAV 100, and a UAV 100 configured to launch from and land on the helmet 200. The UAV 100 may include a camera 150 and sensors arranged in various configurations, a power supply 140, a propulsion system, and an arm 130. The propulsion system, for example, is a rotor blade 110, which may be covered by a ring 120, a cover, or a frame. The arm 130 is optionally bendable to change the attitude of the propulsion system 110 to improve flight control and also to allow the UAV 100 to conform to the shape of a docking station 220 for compact, low-profile storage. The helmet 200 includes a docking port 230 that mates with a docking mechanism 160 on the UAV 100. The docking port 230 can provide the UAV 100 with automatic locking / locking, charging, refueling, and data connectivity capabilities. The docking port may include a target beacon 240, which facilitates easier and more precise docking of the UAV with the helmet. The docking port beacon 240 or landing aid may include visual markers, infrared emitters, lasers, lights, radio transmitters, acoustic emitters, or ultrasonic emitters, or any combination of other devices that guide the UAV to the docking port. The UAV may include complementary sensors capable of using beacons or other devices to guide itself to the helmet docking port. The docking device may emit a homing beam 1500, which may be emitted almost perpendicular to the docking port. The homing beam may be light, laser, infrared, radio waves, or any other spectral form and may be used to assist the UAV in aiming at the docking device during docking. Furthermore, a triangular line 1510 indicates to the UAV the target's location and orientation. The helmet docking port may include a camera 210 and other sensors and support systems. These support systems can aggregate video, audio, night vision lens, and other sensor information and feeds in real time to the wearer, other friendly forces, and remote combat coordinators via a head-up display, projection system, or digital display integrated into the wearer's glasses 300 and a microphone or headset integrated into the helmet docking port 200. The UAV can also serve as an airborne relay for information or data feeds between friendly forces. Applications are not limited to military applications and may include sports, exploration, surveying, wildlife management, policing, and games (e.g., electronic tagging or paintball). The homing beam 1500 may be emitted in the form of laser, infrared, microwave, or other spectra used to guide UAV landing. Additionally or alternatively, sensors and transmitters on the UAV and docking port communicate between the UAV and the docking system. A triangulation 1510 indicates aiming and determines orientation for successful docking.

[0063] Figure 4AAn armed small personal UAV 400 with one or more cameras 140 and a dual-tube projectile launcher 450 is shown according to some embodiments. The launcher can fire lethal or non-lethal weapon systems, such as small lethal devices. According to one embodiment, the system may include CO2-propelled lethal projectiles, explosive darts for combat situations, stun darts for subduing criminals or combatants, tear gas, stun grenades, or drug darts that may be useful for hunting supervisors.

[0064] Figures 4B to 4C A perspective view of a UAV 400 docked to a user's helmet 200 according to one embodiment of the present disclosure is shown. According to some embodiments, cameras, sensors, and projectile launchers can be configured to operate on the helmet as well. The helmet wearer can control the UAV functions and view real-time feeds from the cameras and sensors on a digital display. The digital display can be integrated into glasses, a face mask, contact lenses, etc., or may be a protruding head-up display. When the UAV 400... Figure 4C When docked or in the air, the user may also optionally use the UAV 400 to aim and fire projectiles.

[0065] Figure 5 A perspective view of a personal UAV 100 according to one embodiment of the present disclosure is shown, with the personal UAV 100 landing on the ground 380 or a surface rather than on a docking station. In the illustrated embodiment, the rotor blades remain protected because the UAV arm 130 is flexible, allowing the edge of the protective ring 120 surrounding the rotor blades to act as feet. Alternatively, the arm can be configured to bend upwards and away from the center, allowing the UAV to land with the center body or legs extending from the center body.

[0066] Figure 6 The diagram shows a perspective view of a personal UAV 100 according to one embodiment of the present disclosure. The personal UAV 100 lands on the ground 380 or a surface rather than on a docking station. In the personal UAV 100, a protective ring includes hubless wheels 122. The UAV shown is capable of traversing the ground 380 with the wheels 122, as well as flying and landing.

[0067] Figure 7A A perspective view of a backpack 500 and a UAV 100 mounted on the backpack 500 is shown according to one embodiment of the present disclosure. The UAV is capable of launching from and landing on the backpack 500 and docking with it. The backpack 500 may optionally include an integrated docking port and a UAV securing device or system with charging and / or refueling and data connectivity capabilities. Alternatively, these functions may be provided by a docking port attached to a backpack that can be used with a variety of different backpacks.

[0068] Figure 7B A perspective view of a backpack 500 and a drone 1000 mounted on the backpack is shown, wherein the drone 1000 does not change shape to conform to the shape of the mating surface below, or its shape is not conformal to the shape of the mating surface below.

[0069] Figure 8 A perspective view of a boot 600 and a UAV 100 mounted on the boot is shown according to one embodiment of the present disclosure. The boot 600 or shoe or other footwear article may have an integrated docking port, or the docking port may be an attachable device that can be used with conventional boots, shoes and footwear articles of various sizes and shapes.

[0070] Figures 9A to 9C A perspective view of an attachable UAV docking port 700 mounted on a shoe and a docked UAV 100 according to an embodiment of the present disclosure is shown. Figure 9A A UAV 100 is shown docking and attaching to a shoe 610, wherein the UAV 100 changes its shape to conform to the shoe 610 or other footwear items. Figure 9B A UAV 100 is shown, wherein the arms of the UAV 100 are extended into a flight posture that is either ready for takeoff or has already landed, just before its shape conforms to the footwear item. Figure 9C A UAV 100, either launched or ready to land, is shown hovering above a shoe 610. An attachable docking port 700 is visible in the illustration and can take any form. In the type illustrated, the docking port 230 uses a clip 250 that allows it to be secured to the upper 620 of the shoe. The docking port 230 can use any other device for attaching to footwear.

[0071] Figure 10 A perspective view of a UAV or remote controller 100 capable of traveling on the ground, in shoes 610 or boots, is shown according to one embodiment of the present disclosure. According to one embodiment of the present disclosure, the UAV shown is capable of flying and rolling on the ground, but alternatively, it may only be capable of one of these two modes of travel. The footwear may include an integrated mechanism or device 710 for securing the UAV during docking and for assisting the UAV in pointing towards the footwear before docking. According to one embodiment of the present disclosure, the footwear may include any combination of an auxiliary battery, a solar panel, and a piezoelectric generator that generates electrical energy from walking or running.

[0072] Figure 11 A perspective view of a vest 800 (e.g., for military or law enforcement ballistic protection) with an integrated docking port for one or more UAVs 100, according to one embodiment of the present disclosure, is shown. The UAVs can be launched and docked manually or autonomously.

[0073] Figure 12 A perspective view of a vest 810 (e.g., for military or law enforcement ballistic protection) having a modular attachmentable docking port 700 for one or more UAVs 100, according to one embodiment of the present disclosure, is shown. In the illustrated embodiment, the docking port 100 has an additional locking mechanism 150 or gripper for securing the UAV.

[0074] Figures 13A to 13B A perspective view of an outer garment 900 (e.g., jacket, shirt, or vest) according to one embodiment of the present disclosure is shown. The outer garment 900 has an integrated UAV docking port 910 located generally on the wearer's shoulder. The outer garment 900 may provide charging and data connectivity using internal wiring and has a pocket 940 for holding an auxiliary battery 930 and / or a solar generator or a piezoelectric generator that generates electricity from the wearer's movement. A UAV 100 is capable of autonomously, semi-autonomously, or manually launching from and landing on the docking port 910. The UAV 100 can be controlled by any remote control device, including but not limited to smartphones, smartwatches, handheld flight controllers, smart glasses, body motion sensors, voice sensors, or brain pattern recognition sensors.

[0075] Figure 14 A perspective view of an outer garment 900 (e.g., jacket, top, shirt, or vest) according to one embodiment of the present disclosure is shown. The outer garment 900 has an integrated UAV docking port 930 located generally on the wearer's chest. The docking port 930 may optionally provide charging and data connectivity functions as described in the first two figures.

[0076] Figure 15 A perspective view of a jacket 900 (e.g., a shirt) according to an embodiment of the present disclosure is shown. The jacket 900 has an attachable UAV docking port 700 clipped onto an external pocket 950.

[0077] Figures 16A to 16C , Figures 17A to 17CA UAV docking station 1100 is shown, capable of simultaneously docking multiple UAVs, charging multiple UAVs, or providing refueling. The UAVs are shown as docked 1000d or undocking 1000u. The structure 1100 for supporting one or more UAV docking stations 1108 can be connected to a power grid and communication network, and / or optionally utilize renewable energy sources such as solar, wind, or wave energy to generate electricity for charging the UAVs and powering communications. Examples of such renewable energy sources may optionally include solar panels 1102, as shown. The structure 1100 for supporting the UAV docking station 1108 can provide barriers and protection for the UAVs from weather and other threats. The docking port 1108 can be supported by structures such as those shown by 1104, whose elements can provide barriers to the UAVs and optionally surround the UAVs when docking. The docking station 1108 can be mounted on a pole such as a lamppost (as shown), which may include a street light or area light 1106. Other structures may include, but are not limited to, telecommunications poles and towers, power towers and road signs, and may be located on street level, on the roof or side of a building or inside a building or underground facility, or on or in a ship, vehicle, spacecraft, aircraft, mothership, UAV or anywhere else.

[0078] Docking station 1108 may include an array 1110 of sensors and transmitters for tracking and communicating with the detached UAV 1000u. Docking port 1112 may include a structure or mechanism 1114 for locking sensors on the detached UAV 1000u to ensure fixed docking and dwell of the docked UAV. The docking port may optionally emit a "homing beam" 1530 of visible light, infrared light, or laser light. Throughout the landing process, the detached UAV 1000u can use the "homing beam" 1530 to sense whether it is in a straight line with the docking port for precise docking.

[0079] Even during docking, the UAV can perform useful functions. For example, the UAV shown can function as a security camera mounted on a pole most of the time, only disengaging and flying when instructed to locate or follow a moving target. Targets can be tracked using various markers, such as visual recognition, pattern recognition, infrared or ultraviolet features, biometrics (walking gait characteristics, face / iris recognition, etc.), or tags attached to the target (e.g., tracking transmitters, RFID tags, dye or DNA-introducing sprays (e.g., used by some security devices to mark intruders or thieves), radioactive spots, or RFID chips on the target, etc.). The docking port can include a moving part for locking onto the UAV, or alternatively, the moving part can be integrated into the UAV. The latter configuration would allow the UAV to dock and disengage autonomously without relying on the action or permission of the docking station. The absence of moving parts simplifies the structure of the docking station, making them more durable and maintenance-free.

[0080] The docking station can provide remote power to multiple UACs via a concentrated beam of light, such as laser, microwave, or other transmissions.

[0081] Figure 18A One side of the UAV 1000 is shown, featuring a docking port 1010, an array 1012 of sensors, cameras, and transmitters for assisting autonomous docking, and feet or legs for landing. Throughout the docking process, a centrally located sensor and / or camera 1014 detects whether the UAV is aligned with the "homing beam" of the docking port, and a locking mechanism 1016 locks the UAV to the docking port. A stationary or retractable landing gear or legs 1006 can be configured to stabilize the UAV on the docking port, or to allow the UAV to land on different surfaces without obstruction from the docking port 1010. The rotor blades 1002 shown can be protected by a ring 1004 or other types of frames as shown. While this side can face upwards during flight and docking, it can also be inverted during flight, landing, or docking, facing downwards, by controlling the rotation direction of its rotor. The UAV and docking port 1112 can be in any orientation, allowing the UAV to dock below, above, or close to the side of the docking mechanism. Therefore, the docking port 1112 can be installed under a roof, close to a wall, on a flat or sloping surface, or on a moving object whose orientation may change at any time during movement. The ability to install the docking port 1112 under a roof offers significant benefits, for example, in terms of saving space, preventing the UAV from obstructing pedestrians, and ensuring that it is not touched during docking.

[0082] Figure 18BOne side of the UAV 1000 is shown, featuring cameras and sensors for surveillance, imaging, and communication purposes. Multiple cameras, sensors, and transmitters can be integrated or attached to a protective housing 1030, which can house the UAV within the housing. Typically, when flying to monitor the ground below, the shown side faces downwards, but the UAV can be inverted during flight, with this side facing upwards. Cameras can include omnidirectional and all-around cameras capable of simultaneously observing and recording at multiple zoom distances, resolutions, fields of view, apertures, and focal points, as well as recording surround video for display in virtual reality and augmented reality headsets, INAX cinemas, etc. Cameras can be in fixed positions and / or mounted on gimbals, or on mounts that can change their orientation upon receiving remote or autonomous commands.

[0083] Figure 19A The diagram shows two UAVs, UAV 1000a and UAV 1000u, docking with each other in flight. The UAVs may have docking ports 1010 on both their upper and lower surfaces, allowing multiple UAVs to be stacked together in flight or during docking. The docking mechanism can be configured with the female port on top and the male port below, or vice versa. Alternatively, the docking ports can be non-specific and configured such that any side of one UAV can dock with any side of another UAV. Transmitters and sensors around and inside the docking mechanism enable the UAVs to locate and track each other for precise docking. In addition to stacking the UAVs vertically, they can also be joined laterally to form a three-dimensional array of interconnected, flying UAVs.

[0084] Figure 19B Multiple UAV 1000a and UAV 1000u are shown stacked on a single docking station 1108. The UAVs can dock and detach from each other individually, dock and detach from the docking station, or dock with each other in flight and then dock at the docking station.

[0085] Figure 20A A matrix of interconnected UAVs is shown, which are docked to each other along their sides to extend range and height. The UAVs can dynamically form groups with various sizes, shapes, and performance characteristics. As shown, the docking ports can be configured to allow the UAVs to change orientation relative to adjacent connected UAVs. For example, in the illustration, the central group of UAVs 1000h generates vertical lift, while the outer UAVs 1000r are oriented to provide forward directional thrust. A docking mechanism 1040 mounted on the side allows the UAVs to dock to each other along their sides.

[0086] Figure 20BA connection matrix of UAVs is shown, capable of carrying an extended-range power supply unit 1200 and a cargo 1210 to be delivered. The cargo can be suspended by cables or other structures 1212 with mechanisms for releasing the cargo. The number of connected UAVs can dynamically adapt to the weight and size of the package and the distance to be flown to complete the mission. UAVs that are not directly docked to each other can also cooperate to jointly carry packages or nets that can be deployed on targets (e.g., wildlife, for conservation purposes).

[0087] Figures 21A to 21B A matrix of smaller UAVs 1000d docking with a larger "mothership" UAV 1300 is shown. This enables extended range, more energy-efficient flight, and allows the mothership to release smaller UAVs from higher altitudes to target areas and coordinate their operation. At higher altitudes, it can have improved communication with remotely based operations, such as line-of-sight or satellite communication. The mothership can take various forms, including spacecraft, airships, UAVs, and aircraft. The UAV 1000u disengaging from docking is shown approaching the mothership UAV 1300 to dock using docking mechanism 1040 and optional homing beam 1530. Figure 21B In the middle, the roughly horizontal UAV 1000h generates vertical lift, while the forward-facing UAV 1000r rotates to provide forward thrust.

[0088] Figures 22A to 22C The diagram illustrates a vehicle 1400 and a docked UAV 1000d and a disengaged UAV 1000u. The vehicle 1400 has a mobile UAV docking station 1108 mounted on it. The docked UAV 1000d and the disengaged UAV 1000u are capable of autonomous, semi-autonomous, or remotely controlled operation. The mobile docking station can be mounted on any vehicle, including but not limited to wheeled land vehicles, aircraft, and sea vessels such as ships and submarines. An optional homing beam 1530 can assist in precise docking. A universal beam 1540 can optionally represent a power beam for remote communication, tracking the docking station, or providing continuous power to the UAVs from the docking station. Multiple beams 1540a and 1540b represent the optional ability of a single docking station to simultaneously support multiple UAVs. 1550 represents communication and tracking between two or more UAVs, enabling them to autonomously coordinate their operations.

[0089] Figure 23The image shows a cityscape 1600, comprising a series of UAV docking and support stations 1700 installed on buildings, streets, and other locations, as well as mobile platforms, and a group of UAVs 1000 docked in the air. The UAVs and docking ports can communicate with each other to form a network covering the city. The docking stations are also capable of providing remote power to UAVs in the air via concentrated beams.

[0090] Figure 24 UAV 1000 is shown, which simultaneously tracks multiple obstacles or moving targets and uses a sensor array to generate a virtual map of the environment. Scan line 1560 represents a three-dimensional mapping of the environment as it scans physical entities in the environment and establishes a virtual network of these entities. These entities may include mobile docking platforms, such as the vehicle 1400 shown with docking port 1108 and the person with backpack 500 and docking port 230. Line 1540 represents communication / tracking or electrical beams between the docking port and the UAV.

[0091] Figure 25 This diagram illustrates factors that a UAV might consider during autonomous and semi-autonomous tracking, communication, and docking between the UAV and docking port 1800. Section 1810 describes the factors and sensor data that the UAV can use to locate the approximate position of the docking station. Section 1812 describes the factors and sensor data that the UAV uses to maintain tracking of the docking station once it has been identified and observed. Section 1814 describes the standards that the UAV can autonomously use when deciding whether to dock. Section 1816 describes some factors and sensor data that the UAV may optionally use to assist in precise docking. Section 1818 describes some actions that the UAV can autonomously perform after successful docking.

[0092] Other factors and sensor data for autonomous UAV operation may include using sensor arrays (optical sensors, infrared sensors, laser sensors, RF sensors, radio sensors, etc.) to acquire and track multiple targets (including docking stations), calculate distances to targets, target orientation, velocity and acceleration, environmental factors such as wind speed, altitude and air pressure, gravity and potential obstacles, and target orientation.

[0093] Throughout this specification, similar or identical reference numerals may be used to identify similar or identical elements in various embodiments and figures. Although specific embodiments of the invention have been shown, the invention is not limited to the specific forms or arrangements of components described and illustrated. The scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A system for operating in conjunction with one or more unmanned aerial vehicles (UAVs), the system comprising: For one or more first docking ports of the UAV; A control system configured to control one or more operations of the drone; One or more second docking ports for attaching to one or more second drones and / or at least one docking station, and / or for incorporating into one or more second drones and / or at least one docking station; and A tracking system configured to determine information relating to the relative position, location, and / or distance of the UAV, the second UAV, and the docking station as any or any combination of the UAV, the second UAV, and the docking station moves; The control system is also operable to use information from the tracking system to control the propulsion system of the UAV to autonomously dock at least one of the first docking ports of the UAV with at least one of the second docking ports. as well as The tracking system further includes an optical guidance system comprising at least one optical sensor and at least one light emitter, wherein the at least one optical sensor and the at least one light emitter are incorporated into either or any combination of the first docking port and the second docking port, and wherein the optical guidance system is operable to determine the information.

2. The system according to claim 1, wherein, The tracking system is configured to simultaneously track one or more obstacles and / or the second docking port as the UAV and the second docking port move, and wherein the information from the tracking system is used to generate a virtual 3D map of the UAV’s surrounding environment by using scan lines to create a virtual mesh of physical entities in the surrounding environment.

3. The system according to claim 1, wherein, The tracking system includes any or any combination of the following: a GPS module, a wireless communication module, one or more lasers, one or more accelerometers, one or more cameras, one or more visual markers, one or more LED lights, one or more infrared lights, one or more ultrasonic transmitters, one or more radio transmitters, one or more visual recognition devices, one or more pattern recognition devices, one or more infrared features, one or more ultraviolet features, biometrics, one or more tracking transmitters, one or more RFID tags, one or more dyes, one or more DNA-introducing sprays, one or more radioactive spots, and one or more optical sensors.

4. The system according to claim 1, wherein, At least one of the first docking port and the second docking port includes any one or any combination of the following: wireless beacons for cellular, satellite, WiMax, WiFi, RF, Bluetooth, GPS and other wide area networks and local area networks, and wireless location and communication protocols for network and direct peer-to-peer wireless communications.

5. The system according to claim 1, wherein, At least one of the first docking ports includes a wireless power transmitter and / or a wireless power receiver for transmitting or receiving power to or from any or a combination of: one or more remote power transmission stations, any of the second docking ports and / or the docking station.

6. A method of operating a drone according to claim 1, comprising: The information is obtained from the tracking system and processed. Power is supplied to the propulsion system of the drone to enable the drone to move; and The propulsion system is controlled in part based on the information, wherein controlling the propulsion system includes controlling the propulsion system to dock at least one of the first docking ports of the UAV with at least one of the second docking ports.

7. A system for operating in conjunction with one or more unmanned aerial vehicles (UAVs), the system comprising: For one or more first docking ports of the UAV; A control system configured to control one or more operations of the drone; One or more second docking ports for attaching to one or more second drones and / or at least one docking station, and / or for incorporating into one or more second drones and / or at least one docking station; A wireless power transmission system for any or any combination of the UAV, the second UAV, and the docking station, the wireless power transmission system being configured to transmit power between any or any combination of the UAV, the second UAV, and the docking station; and A tracking system configured to determine information relating to the relative position, location, and / or distance of any one or any combination of the UAV, the second UAV, and the docking station; The control system is also operable to use information from the tracking system to control the propulsion system of the UAV to autonomously dock at least one of the first docking ports of the UAV with at least one of the second docking ports. as well as The tracking system further includes an optical guidance system comprising at least one optical sensor and at least one light emitter, wherein the at least one optical sensor and the at least one light emitter are incorporated into either or any combination of the first docking port and the second docking port, and wherein the optical guidance system is operable to determine the information.

8. The system according to claim 7, wherein, The wireless power transmission system is included in either or any combination of the first docking port and the second docking port.

9. The system according to claim 7, wherein, At least one of the first docking port and the second docking port includes any one or any combination of the following: wireless beacons for cellular, satellite, WiMax, WiFi, RF, Bluetooth, GPS and other wide area networks and local area networks, and wireless location and communication protocols for network and direct peer-to-peer wireless communications.

10. The system according to claim 7, wherein, The wireless power transmission system is included in at least one first docking port in the first docking port, and includes a wireless power transmitter and / or a wireless power receiver for transmitting power to or receiving power from any or a combination of: one or more remote power transmission stations, any of the second docking ports and / or the docking stations.

11. A method of operating a drone according to claim 7, comprising: The information is obtained from the tracking system and processed. Power is supplied to the propulsion system of the drone to enable the drone to move; and The propulsion system is controlled in part based on the information, wherein controlling the propulsion system includes controlling the propulsion system to dock at least one of the first docking ports of the UAV with at least one of the second docking ports.

12. A system for operating in conjunction with one or more unmanned aerial vehicles (UAVs), the system comprising: One or more docking ports for one or more drones, each drone including a propulsion system; A control system configured to control one or more operations of any or any combination of the UAVs; and A tracking system configured to determine information relating to the relative position, location, and / or distance of any one or any combination of the drones when at least one of the drones moves; The control system of any of the drones is also operable to control the propulsion system of the drone using information from the tracking system to autonomously dock at least one docking port of the first drone with at least one docking port of the second drone. as well as The tracking system further includes an optical guidance system comprising at least one optical sensor and at least one light emitter, wherein the at least one optical sensor and the at least one light emitter are incorporated into any one or any combination of one or more docking ports for one or more UAVs, and wherein the optical guidance system is operable to determine the information.

13. The system according to claim 12, wherein, The control system of any of the UAVs is configured to control the propulsion system to autonomously dock at least one docking port of the first UAV to at least one docking port of the second UAV using information from the tracking system, thereby forming a UAV group based on any or a combination of power, communication, and networking required for the UAV group to perform predetermined functions.

14. The system according to claim 13, wherein, The control system of any of the drones may also be operable to control one or more operations of either the first drone and the second drone, or any combination thereof, when the first drone and the second drone are docked together.

15. The system according to claim 14, wherein, Either or any combination of the first and second drones in the drone group is configured to carry one or more cargo and / or perform one or more functions.

16. The system according to claim 15, wherein, The second drone is a plurality of second drones, and wherein any one of the docking ports of any of the plurality of second drones is configured to disengage from any one of the docking ports of the first drone.

17. The system according to claim 12, wherein, The docking ports of the first UAV and the second UAV are each configured to transmit and / or receive data and / or power between the docking ports of the first UAV and the second UAV, respectively.

18. The system according to claim 12, wherein, Any of the docking ports of the UAV includes any one or any combination of the following: wireless beacons for cellular, satellite, WiMax, WiFi, RF, Bluetooth, GPS and other wide area networks and local area networks, and wireless location and communication protocols for network and direct peer-to-peer wireless communications.

19. The system of claim 12, wherein the docking port of the UAV is configured to allow two or more of the UAVs to dock together in a stacked configuration.

20. The system according to claim 12, wherein, At least one of the docking ports includes a wireless power transmitter and / or a wireless power receiver for transmitting or receiving power to or from any one or any combination of: one or more remote power transmission stations, any one and / or docking station of the second UAV's docking ports.

21. A method of operating a drone according to claim 12, comprising: Information is acquired from the tracking system and processed. Power is supplied to the propulsion system of the first drone in the drone to enable the first drone in the drone to move; and The propulsion system of the first UAV in the UAV is controlled in part based on the information, wherein controlling the propulsion system includes controlling the propulsion system to dock at least one of the docking ports of the first UAV in the UAV with at least one of the docking ports of the second UAV in the UAV.

22. A system for operating in conjunction with one or more unmanned aerial vehicles (UAVs), the system comprising: One or more docking ports for drones; A control system configured to control one or more operations of the drone; A wearable item for the user, the item including at least one docking station; and A tracking system configured to determine information relating to the relative position, location, and / or distance of the drone and the item as either or any combination of the drone and the item moves; The control system is also operable to use information from the tracking system to control the propulsion system of the UAV to autonomously dock at least one of the docking ports of the UAV with the docking station. as well as The tracking system further includes an optical guidance system comprising at least one optical sensor and at least one light emitter, wherein the at least one optical sensor and the at least one light emitter are incorporated into any one or any combination of one or more docking ports for the UAV, and wherein the optical guidance system is operable to determine the information.

23. The system according to claim 22, wherein, The item is any one of headgear, glasses, armbands, bracelets, footwear, and backpacks.

24. The system according to claim 22, wherein, The item is a headgear, which includes a head-up display configured to control the functions of the drone and / or view images from a camera mounted on the drone.

25. The system according to claim 22, wherein, The docking port of the drone includes the tracking system.

26. The system according to claim 22, wherein, At least one of the docking ports and the docking station includes any or any combination of the following: wireless beacons for cellular, satellite, WiMax, WiFi, RF, Bluetooth, GPS and other wide area networks and local area networks, and wireless location and communication protocols for network and direct peer-to-peer wireless communications.

27. The system according to claim 22, wherein, At least one of the docking ports includes a wireless power transmitter and / or a wireless power receiver for transmitting power to or receiving power from any or a combination of: one or more remote power transmission stations, a second docking port, and / or the docking station.

28. A method of operating a drone according to claim 22, comprising: Information is acquired from the tracking system and processed. Power is supplied to the propulsion system of the drone to enable the drone to move; and The propulsion system is controlled in part based on the information, wherein controlling the propulsion system includes controlling the propulsion system to dock at least one of the docking ports of the UAV with at least one docking station of the article.

29. A UAV docking system, comprising: A plurality of universal UAV docking ports are provided for attachment to at least one UAV and / or at least one docking station, and / or for incorporation into at least one UAV and / or at least one docking station; wherein each of the plurality of universal UAV docking ports is incorporated into an optical guidance system, the optical guidance system comprising at least one optical sensor and at least one light emitter, and wherein the optical guidance system is operable to determine the relative position and / or distance to other universal UAV docking ports; Each of the plurality of universal UAV docking ports includes a physical docking, communication, data networking, navigation, and charging connection. The physical docking, communication, data networking, navigation, and charging connector of the first universal UAV docking port among the plurality of universal UAV docking ports is configured to physically dock, communicate, and charge with the physical docking, communication, data networking, navigation, and charging connector of the second universal UAV docking port among the plurality of universal UAV docking ports; and The physical docking, communication, data networking, navigation, and charging connectors of the first universal UAV docking port and the second universal UAV docking port are configured to enable autonomous docking and operation of the at least one UAV and / or the at least one docking station when the first universal UAV docking port and the second universal UAV docking port are incorporated into or attached to the at least one UAV and / or the at least one docking station.

30. The UAV docking system according to claim 29, wherein, At least one of the general-purpose UAV docking ports is configured to operate as an autonomous port.

31. The UAV docking system according to claim 29, wherein, The at least one of the general-purpose UAV docking ports is incorporated into or attached to the at least one docking station; and the at least one docking station and the at least one of the general-purpose UAV docking ports attached to or incorporated into are configured to operate as autonomous docking stations and autonomous docking ports.

32. The UAV docking system according to claim 29, wherein, At least one of the universal UAV docking ports is incorporated into any one or any combination of the following as a fully integrated system: UAV or other vehicle, clothing, equipment or other device, building or surface.

33. The UAV docking system according to claim 29, wherein, At least one of the universal UAV docking ports includes a data processing system operatively connected to at least one optical sensor and / or camera; The data processing system and the at least one optical sensor and / or camera are configured to perform optical depth mapping and optical imaging of the environment of the at least one UAV and / or at least one docking station.

34. The UAV docking system according to claim 29, wherein, At least one of the universal UAV docking ports includes an IR laser guidance system; The IR laser guidance system is configured to identify incoming aircraft and navigate port-to-port docking.

35. The UAV docking system according to claim 29, wherein, At least one of the universal UAV docking ports includes an optical imaging system and / or a laser guidance system, which is configured to wirelessly transmit power to the at least one UAV and / or docking station.

36. The UAV docking system according to claim 29, wherein, At least one of the universal UAV docking ports includes an optical imaging system and / or a laser guidance system, which is configured to transmit data to the at least one UAV and / or docking station and / or the network therewith.

37. The UAV docking system according to claim 29, wherein, At least one of the general-purpose UAV docking ports includes any or any combination of the following for docking navigation and docking management of the at least one UAV: ​​gyroscope, accelerometer, altimeter, and other motion and orientation sensors.

38. The UAV docking system according to claim 29, wherein, At least one of the general-purpose UAV docking ports includes any or any combination of the following: a wireless beacon for cellular, satellite, WiMax, WiFi, RF, Bluetooth, GPS and other wide area networks and local area networks, and a wireless location and communication protocol for network and direct peer-to-peer wireless communication with one or more other UAV ports and UAVs for any or any combination of the following: media, data transmission, navigation, device and system management, and remote operation and control.

39. The UAV docking system of claim 29, wherein the first universal UAV docking port includes a tapered member, and the second universal UAV docking port defines a central opening configured to receive a portion of the tapered member.

40. The UAV docking system according to claim 39, wherein, The second universal UAV docking port includes a tapered member having a central opening defined therein, the tapered member of the second universal UAV docking port including any or any combination of the following configured to assist the autonomous docking: a sensor, a camera, and a transmitter.

41. The UAV docking system according to claim 39, wherein, The central opening includes at least one locking mechanism configured to lock onto a portion of the tapered member.

42. The UAV docking system according to claim 39, wherein, The central opening is defined by an inner peripheral wall and an end wall, and the end wall includes either or a combination of a sensor and a camera, the sensor and camera being configured to detect whether the first universal UAV docking port is in a straight line with the second universal UAV docking port.

43. The UAV docking system according to claim 39, wherein, The first universal UAV docking port includes a flange surface, and the tapered member extends in a direction away from the flange surface.

44. The UAV docking system according to claim 43, wherein, The flange surface includes any or any combination of a sensor and a transmitter, which are configured to track and communicate with the second universal UAV docking port.

45. The UAV docking system according to claim 43, wherein, The tapered member of the first universal UAV docking port includes at least one locking mechanism configured to engage with at least one locking mechanism associated with the central opening of the first universal UAV docking port when the tapered member of the second universal UAV docking port is received in the central opening of the second universal UAV docking port.

46. ​​The UAV docking system according to claim 39, wherein, The first universal UAV docking port is associated with the at least one docking station, and the second universal UAV docking port is associated with the UAV.

47. The UAV docking system according to claim 39, wherein, Both the first universal UAV docking port and the second universal UAV docking port are connected to the UAV.

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