A modular drone system suitable for package delivery

Abstract

A modular unmanned aerial vehicle (UAV) system includes a fuselage module, a rotor module, and a wing module. The fuselage module includes a flight controller and a power distribution device. The fuselage module is releasably attachable to the rotor module or the wing module, and the fuselage module is releasably attachable to the rotor module. The rotor module includes one or more motors and electronic speed controllers (ESCs), and the wing module includes a wing having a flap, elevator, aileron, or rudder. The fuselage module, the rotor module, and the wing module can form various UAV configurations. Each configuration has different advantages in flight time, distance, battery life, and payload capacity. The UAV can be configured as a particular configuration to optimize package delivery.

Description

BACKGROUND

[0001] Package delivery has historically used ground delivery vehicles. Air delivery has historically included the use of manned aircraft to transport large quantities of packages to an intermediate destination where the packages are grouped and then delivered using traditional ground delivery vehicles. Until recently, with the advent of small unmanned aerial vehicles (UAVs), package delivery included the use of UAV-based delivery methods for delivering packages to the final destination. SUMMARY

[0002] At a high level, aspects described herein relate to modular UAV systems. One example modular UAV system includes a fuselage module, a rotor module, and a wing module, among other systems that will be further described. The fuselage module includes a battery area, an onboard computing system, a power distribution device, and can include all or part of the landing gear and package transporter of the modular UAV. The fuselage module is releasably attached to either the rotor module or the wing module, where the rotor module includes one or more motors and electronic speed controllers (ESCs), and the wing module includes a wing with a wing surface. In other example configurations, the rotor module and wing module can also have their own battery areas, onboard computing systems, and power distribution devices, or any combination of these. In various configurations, the rotor module and wing module act as components of a larger UAV system, or can operate independently as a "fully operative" UAV.

[0003] Using these system components, various UAV configurations can be formed. In one configuration, the fuselage module is secured to the rotor module. Here, the UAV functions as a typical helicopter or multicopter, allowing it to be able to utilize vertical takeoff and landing (VTOL) and better maneuverability within smaller or obstructed areas. The fuselage module can be secured to rotor modules of various sizes to include payload capabilities. In another configuration, the fuselage module is secured to the wing module, allowing the UAV to take advantage of forward flight, such as distance and reduced power requirements. Another arrangement includes the fuselage module, rotor module, and wing module, both designs providing benefits.

[0004] The summary provides one example of the technology to be described and is presented only to introduce selected concepts that will be further described in the detailed description of the disclosure. The summary is not intended to identify key or essential features of the claimed subject matter, nor is the summary intended to be used to determine the scope of the claimed subject matter. Other objects, advantages and novel features of the technology will be set forth in part in the description that follows, and in part will become apparent to those skilled in the art upon examination of the disclosure, or upon learning of the technology, from the practice thereof. BRIEF DESCRIPTION OF DRAWINGS

[0005] The technology is described in greater detail below in connection with the drawings, in which:

[0006] Figure 1 is an example modular drone system operating environment according to one aspect described herein;

[0007] Figures 2A to 2C shows an example module of an example modular drone system according to one aspect described herein;

[0008] Figures 3A to 3C shows an example configuration formed by modules of an example modular drone system according to one aspect described herein;

[0009] Figure 4 shows an example flight arrangement using multiple UAVs according to one aspect described herein;

[0010] Figure 5 shows an example flight method using a UAV according to one aspect described herein;

[0011] Figure 6 shows an example modular UAV system for use with an example cargo container according to one aspect described herein;

[0012] Figure 7 shows a flowchart of one example method that can be performed using embodiments of a modular UAV system according to one aspect described herein;

[0013] Figure 8 shows a flowchart of another example method that can be performed using embodiments of a modular drone system according to one aspect described herein; and

[0014] Figure 9 shows an example computing device suitable for use with the disclosed technology according to one aspect described herein. DETAILED DESCRIPTION

[0015] Traditional drones are designed to operate as a single unit. That is, drones have historically included a region that houses an onboard computing system and power distribution. Such a region is typically integrated into a frame. The frame also includes arms having motors attached at opposite ends of the frame arms. Some of these drones also include wings for forward flight.

[0016] These traditional UAV systems are not designed to include a modular frame with various interchangeable and scalable modules that allow for different configurations of the UAV. Thus, when using traditional drones, different drones are sometimes needed to accomplish different tasks. In particular, when using drones to deliver packages, different traditional drones are selected for their range and payload capabilities depending on the weight, size, and delivery location of each package.

[0017] This can cause problems when using drones to deliver packages, especially in“last mile” delivery scenarios. Here, it is often infeasible to select from a variety of available drone options when dispatching a delivery task. For example, when drones are used in conjunction with ground delivery vehicles, it is infeasible to transport different drones for different scenarios. Likewise, in a facility, storing different types of UAVs can take up a large amount of space and can limit the number of one type of UAV that can be maintained and used at any given time.

[0018] To address these and other issues in the field, the technology provided herein describes a modular drone system that is suitable for a variety of delivery scenarios including package size, weight, and delivery distance. One example modular drone system includes a body module, a rotor module, and a wing module. The body module includes a battery location, a power distribution, and an onboard computing system, such as a flight controller. The body module also includes navigation sensors for the drone system that are in communication with the onboard computing system. Each of these components can be disposed within a body housing.

[0019] The body module is releasably attached to either the rotor module or the wing module. The body module housing includes a body connection member that is releasably attached to a rotor connection member of the rotor module. The rotor module includes a rotor connection hub that includes the rotor connection member. The rotor connection hub includes arms that extend from the rotor connection hub to the motors. The rotor module also includes an electronic speed controller that controls the motors. The ESC is in communication with the power distribution and the onboard computing via releasable cable connectors located at the body connection member and the rotor connection member.

[0020] The rotor module is releasably attached to the wing module using a second rotor connection member at the rotor connection hub and a wing connection member at the wing module. The wing module includes a wing that assists the modular UAV system in flying forward through the airfoil. Various wing components can be operated through communication with the onboard computing device of the body module. Releasable cable connectors are provided at the second rotor connection member and the wing connection member to establish such communication when the wing module is secured to the rotor module.

[0021] The wing module is further releasably attached to the body module through use of a wing connection member and a body connection member. Communication from the onboard computing device at the body module to the wing components of the wing module is established through releasable cable connectors provided at the wing connection member and the body connection member.

[0022] Thus, the modular UAV system can be arranged in multiple configurations for optimal package delivery. One configuration includes a body module secured to a rotor module. Another configuration includes a body module member secured directly to a wing module. Yet another configuration includes a body module secured to a rotor module, and the rotor module secured to a wing module.

[0023] The various arrangements provide different advantages, making the modular UAV system suitable for addressing many of these issues. For example, some rotor modules include larger motors relative to other rotor modules. This allows for easy selection of larger motors for larger payloads, and smaller motors for smaller payloads, reducing power requirements and increasing range. Wing assemblies of various lengths can be added in arrangements to take advantage of forward flight lift, reducing power requirements and increasing range, while trading off low altitude, low speed maneuverability. Any combination of these components can be selected to provide unique advantages for particular package delivery.

[0024] Reference is now made to Figure 1 , showing an example unmanned UAV system operating environment ("operating environment") 100. As shown, the operating environment 100 includes a UAV 102, an onboard computing system 104, and a server 106. Each communicates using a network 108.

[0025] The network 108 includes any form of wired or wireless communication. This can include one or more networks, such as a public network or a virtual private network "VPN." The network 108 includes one or more local area networks (LAN), wide area networks (WAN), or any other communication network or method. The network 108 includes any frequency band for wireless communication between components. The network 108 is intended to include any method for wireless communication, including satellite-based communication methods or any other over-the-horizon-type communication methods, such as telecommunication frequency bands (LTE, 4G, 5G, etc.).

[0026] The UAV 102 illustrates one example of a modular UAV system and includes any modular UAV system described herein. While shown as one UAV in the figure, the UAV 102 can represent a plurality of UAVs. Further, while shown here and throughout as a quadcopter vertical takeoff and landing (VTOL) aircraft, the UAV 102 can include any number of rotors, such as a single-rotor helicopter or another configuration of a multi-rotor aircraft, or can be embodied as a fixed-wing aircraft, or some combination of the two.

[0027] The UAV 102 can include one or more sensors to assist in navigation and package delivery. Generally, the sensors collect data and transmit the data to the on-board computing device 104 or to the server 106.

[0028] Some example sensors include a barometer to measure air pressure; an accelerometer to determine position and changes in motion; a GPS (or any other satellite-based system) receiver to determine or communicate items such as location, altitude, position, speed, etc.; a magnetometer to determine heading; a rangefinder to determine distance between two objects including the UAV 102, the rangefinder including lasers, sonar, etc.; an optical camera to collect visual information, and a receiver to receive wireless information such as flight instructions or commands. These are just some examples, as it would be impractical to describe every available sensor, and it will be recognized that the inventors intend the availability of any sensor.

[0029] The sensors can be coupled to any of the modules described herein, or can be attached to a sensor receptacle in each module (wing module, rotor module, or fuselage module). When releasably attached to a module, the sensors can be automatically recognized and enabled by the central computing unit, and selectively powered by any available battery located on any of the modules. This allows for efficient payload management of the UAV by only randomly loading those sensors required for each task.

[0030] The sensors can operate alone or in combination with other sensors to determine information. These sensors can work with software programs and computing systems, among others, to participate in obstacle avoidance to improve the safety of the drone, to navigate the UAV 102 to a location autonomously or with the assistance of a pilot, to release and pickup packages for delivery, and to identify or confirm the identity of a recipient or sender. In one particular example, sensors that do not collect visual information can be used to perform any of these functions to protect the privacy of the recipient and sender when using a UAV to deliver a package.

[0031] The UAV 102 includes an on-board computing device 104. Examples of the on-board computing device 104 include a flight controller. Various flight controllers can be used with the UAV 102. Those of ordinary skill in the art will appreciate the availability and benefits of such flight controllers.

[0032] Although represented as a single component, the on-board computing device 104 can actually be distributed. That is, one or more functions can be performed by a single component or by a plurality of components distributed throughout the UAV 102. The on-board computing device 104 typically includes a processor that executes instructions stored on a computer memory. One example includes the computing device 900 of Figure 9

[0033] The on-board computing device 104 can include or communicate with sensors used by the UAV 102. For example, the on-board computing device 104 receives input signals from the receivers, processes the input signals, and then transmits instructions to various components of the UAV 102 for the drone to operate in accordance with the input signals. For example, based on received sensor information or other remotely received instructions, the on-board computing device 104 can use a parcel carrier to release or retrieve a package.

[0034] In addition to processing received input instructions, the on-board computing device 104 includes pre-programmed instructions for the instructions. One example includes default safety instructions that are executed upon detection of a particular event. For example, if a communication signal is lost or damage is detected, the on-board computing device 104 can navigate the UAV 102 to a defined location; if certain altitude inputs are received or the battery power is depleted below a safe level, the on-board computing device 104 can execute a safety mechanism, such as a parachute; the on-board computing device 104 can maneuver the UAV 102 to avoid obstacles (such as aircraft, buildings, and people), or perform any other safety protocol in response to an event.

[0035] ​The UAV 102 can include ESCs. Electronic speed controllers generally adjust the speed and rotational direction of electric motors. The electronic speed controllers receive input signals from the on-board computing device 104 and adjust the electric motors of the UAV 102 accordingly. One ESC can be provided for each motor included in the UAV 102. Multiple ESCs can be consolidated into a single component or distributed around the UAV 102. The multiple ESCs can be independent of or integrated with the on-board computing device 104.

[0036] The motors can include any type of electric or non-electric motor. However, generally, electric motors are used in conjunction with ESCs. The electric motors can include brushed direct current (DC) motors or brushless DC motors. The motors can vary in size to provide a higher level of driving force for the UAV 102, thereby increasing the payload capacity. Generally, an increase in motor size increases the amount of current that the motor will draw. This places a higher demand on the ESCs. Therefore, the selection of the ESCs depends on the motor size and can further depend on the propeller size, the battery voltage, and the weight of the drone, including a load such as a package.

[0037] The UAV 102 can include a power distribution device that distributes power from a battery or other power source to the various components of the UAV 102, such as the sensors, ESCs, and the on-board computing device 104. The power distribution device can be a single component or integrated into one component that includes the ECSs and the on-board computing device 104.

[0038] The server 106 generally includes a computing device that is not integrated onto the UAV 102, but can communicate with the UAV 102 and the on-board computing device 104 remotely using the network 108, for example, by wireless transmission to a receiver on-board the UAV 102. The server 106 can include a single server with a processor and memory or a plurality of distributed servers. One suitable example server is the computing device 900 of Figure 9

[0039] ​The server 106 may include a logistics server that remotely provides delivery instructions to the UAV 102 to release or retrieve a package. The server 106 may provide navigation information (such as delivery coordinates or route instructions) to the onboard computing device 104, wherein the onboard computing device 104 navigates the UAV 102 to the received delivery coordinates or navigates the UAV 102 along the indicated route. The server 106 may operate to directly control the navigation of the UAV 102 by automatically determining and providing instructions, receiving input from an operator, transmitting the received input to the UAV 102, or a combination of both. In addition, the server 106 may operate to control more than one UAV. In certain exemplary embodiments, the server 106 may control up to ten UAVs simultaneously.

[0040] Now please refer to Figures 2A to 2C , the figure shows example modules of an example modular UAV system. Figure 2A Initially, a fuselage module 200 is provided. The fuselage module 200 includes a fuselage housing 202.

[0041] Regarding modular drone systems, there are a variety of component arrangements. One example arrangement includes a power distribution device and an onboard computing device placed within the fuselage housing 202.

[0042] The transmitting and receiving components for communication may be located within the fuselage housing 202 or outside the fuselage housing 202 and communicate with an onboard computing device within the fuselage housing 202 .

[0043] In some cases, body housing 202 includes Figure 1 The onboard communication transmitter may be located outside the fuselage housing 202, and the material of the fuselage housing 202 may be selected to be opaque or nearly opaque to the transmission frequencies so as not to interfere with other components included in the fuselage housing 202.

[0044] The body housing 202 may include a battery area so that the battery can be secured to or within the body housing 202. In another arrangement, the battery area may be an external portion of the body housing 202. The battery may be fixed within the battery area or releasably secured to the battery area. When fixed, the charging port may be used. When releasably secured, the battery may be charged while secured to the battery area or may be charged separately when detached from the battery area.

[0045] Although not shown on fuselage module 200, fuselage module 200 can include landing gear or parcel transporters, which in some cases are combined into a single component.

[0046] As shown, fuselage housing 202 includes a first fuselage housing side 204 and a second fuselage housing side 206. A fuselage connection member 208 is included on first fuselage housing side 204. Although fuselage connection member 208 is shown as a separate component, fuselage connection member 208 can also be integrated into first fuselage housing side 204. Figure 2A Generally, fuselage connection member 208 includes all or part of a releasable mechanism. As shown, fuselage connection member 208 is a rail, which is part of a track-and-rail locking system. In addition to or in place of a track-and-rail locking system, any releasable mechanism can be used. Releasable mechanisms include a first portion secured to a second portion so as to release the first and second portions using a particular action. Some additional examples include a channel locking system, a tension lock, a bolt system, an electronic lock, a spring lock system, a magnetic locking system, a slide lock system, a clamp, a ball lock, a threaded locking system, and a male-female locking system, among others.

[0047] Figure 2A Fuselage module 200 additionally includes a first releasable cable connection joint 210. As shown, first releasable cable connection joint 210 is represented as being located at fuselage connection member 208. However, generally first releasable cable connection joint 210 can be located at any point on fuselage module 200. In another example, first releasable cable connection joint 210 is located on first fuselage housing side 204 and is not integrated with fuselage connection member 208. In another example, first releasable cable connection joint 210 is external to fuselage housing 202 and communicates with components within fuselage housing 202 using a hardwired communication channel.

[0048] First releasable cable connection joint 210 includes all or part of a releasable cable connection system. Generally, a releasable cable connection system includes first and second connection members that, when connected, allow for communication between a cable associated with the first connector and a cable associated with the second connector. Cables include any physical communication channel, such as copper wire, fiber optic cable, and the like. Some examples of cable connection systems suitable for use include snap connectors, screw connectors, click connectors, push connectors, plug and socket connectors, and male-female connectors, among others.

[0049] First releasable cable connection joint 210 includes all or part of a releasable cable connection system. Generally, a releasable cable connection system includes first and second connection members that, when connected, allow for communication between a cable associated with the first connector and a cable associated with the second connector. Cables include any physical communication channel, such as copper wire, fiber optic cable, and the like. Some examples of cable connection systems suitable for use include snap connectors, screw connectors, click connectors, push connectors, plug and socket connectors, and male-female connectors, among others.

[0050] Figure 2A ​Additionally shown is a rotor module 212. Rotor module 212 includes a rotor connection hub 214 having a first hub side 216 and a second hub side 218. Second hub side 218 is opposite first hub side 216.

[0051] Rotor hub 214 is coupled to a plurality of motors, such as motor 222. These motors may be coupled to rotor hub 214 using a plurality of arms extending outwardly from a first end at rotor hub 214 to a second end. The motors may be coupled to the second ends of the arms (e.g., Figure 2A aspects shown), such as Figure 2A As shown, arm 220 extends outward from rotor connection hub 214, extending from a first end outward to a second end, with a motor 222 having a propeller 224 at the second end. Generally speaking, a rotor module can include any number of motors or propellers, with the connection hub automatically identifying the motor or propeller and adjusting flight parameters accordingly. For example, the rotor module can be configured like a helicopter, with a single propeller or motor; or it can include a plurality of propellers and motors in any arrangement, with each of these propellers and motors automatically identified by the connection hub, and the connection hub adjusting flight parameters accordingly.

[0052] The rotor connection hub 214 of the rotor module 212 can be configured to receive various arms of different lengths at arm slots provided on the rotor connection hub 214, not shown. By adding or removing components (arms with rotors and ESCs) in these slots, the number of arms and rotors can be increased or decreased. For example, the rotor connection hub 214 can be equipped with eight arm slots. In this case, any number of arms can be attached to the slots to enable flight. For example, three, four, or six arms can be inserted into different slots, providing different configurations for achieving flight using three, four, or six arms. As will be appreciated, any number of slots and arm arrangements can be used. In some cases, each arm is automatically identified and enabled by the central computing unit and is selectively powered by the rotor module battery or the fuselage module battery.

[0053] Rotor module 212 may include an ESC. Rotor module 212 may include a plurality of ESCs, wherein each motor of rotor module 212 is associated with one of the plurality of ESCs. In this example arrangement, it may be beneficial to provide the ESCs at rotor module 212 so that the ESCs can be pre-selected based on motor size. Thus, a particular rotor module can be selected based on payload requirements, wherein when a larger payload capacity is required to deliver a package, a rotor module with a larger motor can be selected. Similarly, when a smaller payload capacity is required, a different rotor module with a smaller motor can be selected. By providing the ESCs on the rotor modules, the ESCs do not have to be changed when switching between rotor modules with different motor sizes. In another embodiment, rotor module 212 operates independently, which will be discussed further.

[0054] like Figure 2A As shown, rotor module 212 includes landing gear and package transporter 226. Landing gear and package transporter 226 are shown as a single component, but in some configurations may be embodied as multiple components. Although shown coupled to rotor module 212, landing gear and package transporter 226 may be coupled to any other component of the modular UAV system, including being distributed between different components or modules of the modular UAV system.

[0055] Rotor module 212 is further illustrated as including a first rotor connection member 228. First rotor connection member 228 is coupled to first hub side 216. Although first rotor connection member 228 is shown as a separate component, it may be integrated into first hub side 216 or rotor module 212 as a single element.

[0056] First rotor connection member 228 includes all or part of a releasable mechanism, such as those previously described. As shown, first rotor connection member 228 includes the rails of a track and rail system. First rotor connection member 228 includes a first portion of the releasable mechanism that is releasably coupled to a second portion of the releasable mechanism, which forms fuselage connection member 208 of fuselage module 200.

[0057] Rotor module 212 may be releasably secured to fuselage module 200 . Figure 2B In the example provided, rotor module 212 is releasably secured to fuselage module 200 by coupling rails of first rotor connection member 228 to tracks of fuselage connection member 208 , as indicated using first arrow 252 .

[0058] Rotor module 212 additionally includes a second releasable cable connection joint 230. Second releasable cable connection joint 230 includes all or part of a releasable cable connection system, such as those described previously. While second releasable cable connection joint 230 is shown as part of first rotor connection member 228, it can be placed anywhere on rotor module 212.

[0059] When rotor module 212 is secured to fuselage module 200, communication between components of rotor module 212 and fuselage module 200 can be established by connecting first releasable cable connection joint 210 to second releasable cable connection joint 230. Thus continuing the example from before, the ESC of rotor module 212 communicates with the battery located in the battery area of fuselage module 200 using the power distribution device, and with the on-board computing device within fuselage housing 202.

[0060] Reference is now made to Figure 2B , which shows rotor module 212 in a different orientation. Rotor module 212 includes rotor connection hub 214, which has second hub side 218. First hub side 216 is opposite second hub side 218. For reference, Figure 2B Arms 220, motors 222, and propellers 224 of rotor module 212 are also shown.

[0061] Second hub side 218 is shown as including second rotor connection member 232. While shown as a separate component, second rotor connection member 232 can be a single component integrated with second hub side 218. Second rotor connection member can be all or part of a releasable mechanism, such as those described previously. As Figure 2B As shown in the example provided, second rotor connection member 232 is a rail of a rail-guideway connection system.

[0062] Second hub side 218 also includes third releasable cable connection joint 234. Third releasable cable connection joint 234 includes all or part of a releasable cable connection system, such as those described previously. As shown, third releasable cable connection joint 234 is shown as integrated with second rotor connection member 232. However, releasable cable connection joint 234 can be placed anywhere on rotor module 212.

[0063] Figure 2BAn example wing module 236 is further illustrated. The wing module 236 includes a wing 238. As illustrated, the wing module 236 includes more than one wing. However, a wing module suitable for this technology can include any number of wings, including a single wing, two wings, or more than two wings. As will be discussed, each of these wings can include any combination of wing components. In further embodiments, the wings can have variable configurations that can change shape and angle based on current or desired speed.

[0064] The wing module 236 can be configured to receive a variety of wings and wing components that are releasably fastened to the wing module 236. The recessed slots at the wing module 236 can be configured to receive corresponding extensions on the wings. In this way, the wing module 236 can be equipped with a variety of wings of different sizes and designs, which allows for more advanced UAV configurations. Advantages of these systems include the ability to easily and quickly adjust the maximum takeoff weight, payload capacity, speed, range, etc. of the modular UAV to suit particular needs.

[0065] The wing module 236 can be configured to receive various wings having different designs, such as the type of wing, size, length, etc. Various wing designs can be interchangeably added to the wing module 236 at wing slots provided on the wing module 236, not shown. By adding or removing components (wings with rotors and ESCs) in these wing slots, the number of wings can be increased or decreased. For example, the wing module 236 can be equipped with four wing slots. In this case, any number of wings can be attached to the wing slots to enable flight. For example, two or four wings can be inserted into the various slots, providing different configurations that enable flight. The wing slots can be located at predetermined locations so as to receive different wing types that are needed at specific locations on the wing module 236. As will be appreciated, any number of wing slots in various configurations. In some cases, each wing is automatically identified and enabled by the central computing unit and selectively powered by the wing module battery or the fuselage module battery.

[0066] A flight controller housed within wing module 236 or any other module can identify a specific type of wing, including dimensions and design, such as the number and type of available motors and attached sensors, battery size and charge state (if any), and wing design. For example, a specific wing may include a storage medium that stores computer-readable information identifying the wing, including dimensions and design. This information may also include other specifications about the wing, such as weight, lift, component configuration (flaps, elevators, ailerons, rudder, etc.), type and number of motors, etc. When the wing is connected to wing module 236, a communication bus can be physically connected to establish communication between the wing's storage medium and the flight controller, allowing the flight controller to identify the wing and its specifications. In another embodiment, wireless communication between the wing and wing module 236 can be used to transmit information about the wing. After identifying the wing and its specifications, the flight controller can reconfigure flight parameters based on weight, power, type and number of wings, type and number of motors, etc., so that the flight controller can adjust the behavior of the modular drone accordingly. For example, if a smaller wing is replaced with a relatively larger wing, the flight controller recognizes the larger wing and adjusts for the different drag and glide characteristics and different wing components.

[0067] Wing 238 includes a first wing side 240 opposite a second wing side 242. In this example, first wing side 240 is an upper surface of wing 238 and second wing side 242 is a lower surface of wing 238 when the wing is in the flight position.

[0068] Although Figure 2B Not shown in the example embodiment provided, wing module 236 may include a single motor and propeller combination, or multiple motor and propeller combinations. As will be further described, the motor and propeller combination may also be used with independently operated wing modules. This allows wing module 236 to participate in flight without the assistance of rotor module 212, and to assist in flight when secured to rotor module 212. In some embodiments, the motor and propeller combination used by wing module 236 is releasably secured to wing module 236 so that it can be easily removed and replaced, or any configuration may include any number or variations. The removable motor and propeller combination may include the same specifications as motor 222 and propeller 224 of rotor module 212, which are also removably secured to rotor module 212. Thus, the motor and propeller combination of wing module 236 is interchangeable with motor 222 and propeller 224 of rotor module 212.

[0069] The wing 238 includes a wing attachment member 244 coupled to the second wing side 242. Although the wing attachment member 244 is shown as a separate component, the wing attachment member 244 may be integrated into the wing 238 in some cases. The wing attachment member may be all or part of any releasable mechanism, such as those previously described. Figure 2B In FIG, the wing connection member 244 is represented as a rail of a track and rail system.

[0070] Wing module 236 may be releasably secured to rotor module 212. Figures 2A to 2C , wing module 236 is releasably secured to rotor module 212 by coupling the rails of wing connection member 244 to the tracks of second rotor connection member 232 , as shown using second arrow 248 .

[0071] Wing module 236 additionally includes a fourth releasable cable connection joint 246. Fourth releasable cable connection joint 246 includes all or part of a releasable cable connection system, such as those previously described. Although fourth releasable cable connection joint 246 is shown as part of wing connection member 244, it can be located anywhere on wing module 236.

[0072] When wing module 236 is secured to rotor module 212, communication can be established between components of wing module 236 and rotor module 212 by connecting third releasable cable connector 234 to fourth releasable cable connector 246. Thus, when fuselage module 200 and rotor module 212 are connected using first releasable cable connector 210 and second releasable cable connector 230, components of wing module 236 (flaps, elevators, ailerons, rudder, etc.) can communicate with components of rotor module 212 and components of fuselage module 200. In one embodiment, wing module 236 is configured to operate independently, as will be described further.

[0073] It is understandable that Figure 6 The modules provided herein are examples. Other modular configurations are applicable to various aspects of the present technology. In certain examples, the rotor module and the wing module can each operate independently. That is, the rotor module in this example includes components that allow the rotor module to operate independently, meaning that the rotor module can be flown to deliver packages without the support of other modules. For example, the rotor can include any combination of battery locations with battery connection members or batteries, flight controls, power distribution units, communication transmitters and receivers, package transporters for transporting packages during flight, and the like.

[0074] Similarly, in this example, the wing module can also operate independently. Here, the wing module can also include components that allow it to operate without support from other modules to deliver a package. That is, the wing module includes any combination of a battery site with a battery connection member or a battery, a flight controller, a power distribution device, a communication transmitter and receiver, a package transporter to transport a package during flight, etc.

[0075] In one example, the independently operable wing module and the rotor module can each carry a cargo bin. The cargo bin can also be used with any other embodiment of the present technology. For example, the cargo bin can be used with the modules (such as the wing module, the rotor module, and the fuselage module) when the modules are working in conjunction with each other or independently from each other. By at least partially or completely enclosing a package within the cargo bin, the cargo bin provides additional protection for the package.

[0076] In one example, the cargo bin includes a battery for use by the wing module or the rotor module. In this way, a package can be pre-loaded into the cargo bin along with a charged battery. This facilitates the quick reloading of a package for delivery. Since the battery power is depleted during package delivery, including the battery in the cargo bin allows one or more modules to simultaneously load a new package and a charged battery, thus allowing one or more modules to be immediately available to transport a second package.

[0077] The cargo bin can be secured to the rotor module, the wing module, or the fuselage module. The cargo bin can be used with any configuration of these modules, or with one independently operable module. The rail and guide system is one example system suitable for securing the cargo bin to any UAV module. However, any other securing system described herein can be used. Reference will be made to Figure 2C One example cargo bin suitable for use is described in further detail.

[0078] It should be appreciated that in some configurations of the modules, multiple batteries will be employed. For example, a battery can be included in the cargo bin, the fuselage module, the rotor module, the wing module, or any combination. In such configurations, the flight controller can be used to balance the power between each battery, thus equally utilizing each battery. In another example, the flight controller draws power from one particular battery, thus conserving the battery power in the other batteries.

[0079] Reference is now made to Figures 3A to 3Cwherein a further example configuration of a modular UAV system is shown. Here, the wing module 236 is secured to the fuselage module 200 using the wing connection member 244 and the second rotor connection member 232, as indicated by the third arrow 250. Communication from components of the wing module 236 to components of the fuselage module 200 is established by connecting the first releasable cable connection joint 210 to the fourth releasable cable connection joint 246. Thus, for example, the flaps, ailerons, rudder, etc. of the wing module 236 can communicate with and receive instructions from the onboard computing device within the fuselage shell 202.

[0080] While the first through fourth releasable cable connection joints (210, 230, 234, 246) are represented as single units, each can include various cables, for example, power cables from a power distribution device to an ESC can be different than communication cables from an onboard computing device to an ESC. They can each be connected using a single unit, or can be connected through various units. All of this is intended to be within the scope of the first through fourth releasable cable connection joints (210, 230, 234, 246). Further, while each of the first through fourth releasable cable connection joints (210, 230, 234, 246) is represented as being located on or integrated with their respective components, the first through fourth releasable cable connection joints (210, 230, 234, 246) can be located external to each of these components and communicate using cables. For example, the first releasable cable connection joint 210 can be located external to the fuselage shell 202 and communicate with components within the fuselage shell 202, such as an onboard computing device, etc. using cables. Likewise, this can apply to any of the first through fourth releasable cable connection joints (210, 230, 234, 246).

[0081] Reference is now made to Figures 2A to 2C , which provides example configurations formed from modules of an example modular drone system. Each of these configurations can be formed from the modular drone system provided in Figure 3A . Each module can host any combination of the components described herein, including components that allow each module to operate independently.

[0082] Figure 3B A first configuration 300 of a modular UAV system is illustrated. Here, a fuselage module 302 is releasably secured to a rotor module 304. The rotor module 304 is further releasably secured to a wing module 306.

[0083] Figure 3C A second configuration 308 of a modular UAV system is illustrated. Here, the fuselage module 302 is releasably secured to the rotor module 304.

[0084] Figure 2AA third configuration 310 of a modular UAV system is illustrated. Here, the fuselage module 302 is releasably secured to the wing module 306.

[0085] In an example embodiment, a method of assembling a modular unmanned aerial vehicle (UAV) system includes coupling a first rotor connecting member of a rotor module to a fuselage connecting member of a fuselage module. See Figure 2B As indicated by the first arrow 252, the fuselage connecting member 208 of the fuselage module 200 is releasably coupled to the first rotor connecting member 228. In further embodiments, the first releasable cable connecting connector 210 is coupled to the second releasable cable connecting connector 230. By connecting the first releasable cable connecting connector 210 to the second releasable cable connecting connector 230, communication between the fuselage module and the rotor module is facilitated. For example, this allows for communication between a battery located in or attached to the fuselage module and an electronic speed controller of the rotor module.

[0086] In further embodiments, as indicated by the second arrow 254, the second rotor connecting member 232 is releasably coupled to the wing connecting member 244. In further embodiments, the third releasable cable connecting connector 234 is coupled to the fourth releasable cable connecting connector 246. By coupling these releasable cable connections, communication between the rotor module 212 and the wing module 236 is enabled. In each embodiment where the wing module 236, the rotor module 212, and the fuselage module 200 are releasably coupled together, the connection of the respective releasable cable connecting connectors allows for communication between all of the coupled modules. For example, if the wing module is communicatively coupled to the rotor module and the rotor module is communicatively coupled to the fuselage module, the fuselage module will be able to communicate with and issue instructions to the wing module. Figure 4

[0087] Now referring to Figure 4 , an example flight arrangement 400 using a plurality of UAVs is provided. The example shown is one example of a "flying chain." The flight arrangement 400 provides an advanced method of package delivery. As shown, in Figure 4 , the flight arrangement includes a plurality of UAVs 402A-402N. By using "402A-402N," it is intended to illustrate that the plurality of UAVs in the flight arrangement can include any number. One aspect of the modular UAV described throughout this disclosure can be used. However, this arrangement is not limited to a modular unmanned aerial vehicle system. Figure 4

[0088] ​​Here, each of the plurality of UAVs includes a tether, such as tether 404 of UAV 402A. In one aspect, each UAV can have two tethers. Each tether is attached to its respective drone at a joint. Examples of suitable joints include balls, hinges, knuckles, turnbuckles, cotter pins, pivots, bolts, and screws, among others. The tether can be attached at the front end of the UAV, the back end of the UAV, or both, such as when two tethers are used. Figure 5 UAV 402A is illustrated as having a front end 406 and a back end 408. The tethers can be rotatably attached around the joint, which allows the first tethered UAV to move independently of the second tethered UAV.

[0089] In some cases, the tether also includes a bus to allow for communication and power between the drones of the UAV flight chain. As previously mentioned, in cases where multiple batteries are used, the battery power can be balanced during drone operation. In other embodiments, a particular UAV of the UAV flight chain provides battery power over the flight chain. This can be beneficial for UAVs of a flight chain that have a short delivery distance, allowing their battery power to be used before using the battery power of a UAV with a relatively longer distance when delivering a package. That is, the battery power of a first UAV of a flight chain can be used before the battery power of a second UAV of the flight chain, where the second UAV has a second delivery destination that is farther than a first delivery destination of the first UAV. In addition to or instead of wireless communication capabilities, the bus allows for communication between the UAVs. This can increase response times when the UAVs are operating in a flight chain.

[0090] In aspects where one tether is employed on a UAV, the tether is attached at the front end. Alternatively, the tether can be attached at the back end. In aspects where two tethers are employed, each tether is attached at the front end and the back end.

[0091] When a single tether system is employed, each UAV also has a harness point. The harness point includes a point at which a tether of another UAV can releasably engage. By engaging a tether of one UAV with another UAV, a UAV flight chain is formed, such as the one shown in flight arrangement 400. In flight arrangement 400, UAV 402A includes tether 404 attached at a joint at back end 408. Tether 404 is in an engaged position with UAV 402. Tether 404 can be released so that tether 404 is in a disengaged position. When releasably coupled to the harness point of the engaged position, the tether can be rotated around the harness point.

[0092] ​When disengaged, the flight chain is broken and the UAVs 402A and 402B can act independently, i.e., they can each move and navigate asynchronously. When engaged, the UAVs 402A and 402B perform synchronized movement and navigation. Synchronization does not mean that each UAV performs an action at the same time, but rather that the actions of the synchronized movement are to accomplish a goal. For example, the flight chain can receive a left turn instruction. Here, the drone 402A can start rolling to the left, followed by the drone 402B rolling to the left. While each UAV does not roll to the left at the same time, each rolls in some manner to push the flight chain to move in the left direction. This is considered synchronized movement. Thus, asynchronous movement can occur when the movements do not act to accomplish the same task, e.g., moving in two different directions.

[0093] In embodiments where the UAVs include two tethers, each tether is fastened to its respective UAV at a joint, while the opposite end includes a harness point. For example, a tether is fastened to the UAV front end at a first end of the tether. The tether extends from the first end to a second end opposite the first end. The second end includes a harness point. Each harness point for a UAV in this embodiment releasably engages a harness point of a tether on the other UAV.

[0094] The tethers can be disengaged from the harness points during flight. In this way, the drones can use the flight chain to navigate synchronously. The drones can disengage individually or in groups to begin moving asynchronously.

[0095] Accordingly, the drone flight chain can be used in a method of package delivery. In one tethered flight delivery method, a plurality of UAVs are coupled using tethers. The plurality includes two or more UAVs. The plurality of drones forms a flight chain when coupled. Each UAV includes a tether. In another embodiment, each UAV includes two tethers. The tethers are coupled to a harness point. Each UAV can include a harness point for releasably fastening one of the tethers. In some cases, each tether includes a harness point to releasably fasten each UAV to another UAV by securing a first harness point of a first tether to a second harness point of a second tether.

[0096] The flight chain can be navigated synchronously from one location to another over a distance. At any time, including during flight, one or more of the tethered drones in the flight chain are released. In this way, a UAV or a group of two or more drones are released from the UAV flight chain. When a group of drones is released as a unit, a second flight chain is formed. The UAV flight chain has several advantages over current delivery methods. First, in the flight chain system, each drone can share energy among the other drones in the flight chain. Further, the flight chain described above can be powered primarily by the head UAV of the flight chain. In this embodiment, this reduces wear and tear on the power system components of the other drones. The UAV flight chain also provides benefits to the civil aviation authorities of simplified flight path approval and simplified mission progress tracking. This is because the plurality of UAVs in the flight chain while tethered can be considered a single flight system.

[0097] Once released, the released drones (single drone, group of drones, or group of drones forming a single unit) can be navigated asynchronously with respect to the flight chain from which they were released. Thus, the released UAVs can navigate away from the flight chain to another location.

[0098] To deliver a package, one or more packages can be attached to the plurality of UAVs. This can be done at the package carriers of the UAVs. Examples of suitable package carriers and methods of attaching packages to package carriers can be found in U.S. Patent Application No. 15 / 582,168, entitled “Drone Retrieval and Delivery System,” now U.S. Patent No. 9,969,495, which is incorporated by reference herein in its entirety. A UAV can include more than one package, each UAV of the flight chain can include one or more packages, and some UAVs of the flight chain can have no attached packages. In one loading method, the packages are attached to the UAVs to balance the flight chain. Relatively heavier packages, i.e., packages having a greater weight than another of the plurality of packages, can be attached in a direction toward the center of the flight chain. Lighter packages are attached in a direction toward the ends of the flight chain. In one example, the lightest package of the plurality of packages is attached to an end UAV of the flight chain. The heaviest package is attached to a center UAV of the flight chain, which can include either of the two center UAVs in a flight chain having an even number of UAVs.

[0099] Using the attached packages, the flight chain is navigated synchronously over a first distance to a first location. When at the first location, one or more of the UAVs are released from the flight chain so that the released drones can navigate asynchronously with respect to the flight chain. The one or more UAVs are released from the flight chain by untying the tether unit at the tethered point to detach the tether unit.

[0100] In some cases, multiple UAVs are released individually. In this case, each released UAV navigates asynchronously relative to the other released UAVs. In another case, multiple UAVs are released as a unit forming a second flight chain. The second flight chain navigates asynchronously relative to the first flight chain (e.g., the initial flight chain from which the second flight chain is released). The UAVs forming the second flight chain navigate synchronously relative to each UAV of the second flight chain.

[0101] When released, the unchained UAV departs the UAV flight chain and navigates toward a second location. The package is released at the second location, which can include a delivery location of one or more packages associated with the unchained UAV.

[0102] Another method performed by a UAV including a modular UAV includes a controlled descent to charge a battery. For example, a UAV in flight can charge a battery by rapidly descending, letting air flow spin its propellers, thereby using the electric motor to charge the battery.

[0103] This method can be used for UAV flight chains as well as modular UAVs having at least one rotor module and one wing module or two rotor modules. A UAV with a depleted battery that is flying in sync with other UAVs in a flight chain can be released from the chain from an altitude above the ground. The UAV can free fall in a controlled manner to charge the on-board battery. As the UAV approaches the ground, the remaining battery power obtained from the controlled free fall can be used to slow the UAV to a safe speed for landing.

[0104] In an example embodiment, a method of tethered flight delivery includes coupling a plurality of UAVs to form a UAV flight chain. Each of the plurality of UAVs includes a tether unit, and the UAVs are coupled together by engaging the tether unit of each UAV to the tether unit of the other UAVs. A plurality of packages are attached to the plurality of UAVs forming the UAV flight chain, and the UAV flight chain is navigated over a first distance to a first location. Once the UAVs have reached a location proximate the first location, the UAVs are unchained from the UAV flight chain by disengaging the engaged tether units, the unchained UAV having one of the plurality of packages attached thereto. The unchained UAV is navigated away from the UAV flight chain to a second location and the package is released at the second location.

[0105] Reference is now made to Figure 6An illustration of an example delivery method using a modular UAV is provided. Here, a modular UAV delivery system 500 using a wing module 510, a body module 530, and a rotor module 520 is shown working in concert to deliver a package 540. In one embodiment, the wing module 510 can self-propel using wing motors (not shown) attached to the wing module. In another embodiment, the wing module can be used as a glider without the use of self-propelling motors.

[0106] As previously described, the wing module 510 can be releasably secured to one or more of the body module 530 or the rotor module 520. In this way, the system works in concert to deliver the package 540. In an example method, the package 540 is secured to the body module 530 or the wing module 510. In a first arrangement, the wing module 510 is secured to the body module 530 or the rotor module 520 carrying the package 510. The combined system of the wing module 510, the rotor module 520, and the body module 530 are provided instructions to deliver the package 540 to a delivery location. The combined system navigates to the delivery location according to the instructions.

[0107] At an altitude above the delivery location, the wing module 510 is released from the body module 530 and the rotor module 520 with the package 540, as indicated by arrow 550. After release, the wing module 510 navigates to an end point location where it can be retrieved using its motors or by gliding. After release, the body module 530 and the rotor module 520 carrying the package 540 navigate to the delivery location and release the package 540. In some cases, the rotor module 520 and the body module 530 remain at the delivery location awaiting retrieval. In one aspect, the body module 530 or the rotor module 520 emits a navigation beacon, such as a GPS location signal, that communicates its location. In this way, the modules can be retrieved, for example, by a delivery vehicle. In another aspect, the body module 530 and the rotor module 520 navigate away from the delivery location using power sources associated with these modules. These modules can navigate to the same end point location or can navigate to a second end point location that is different from the first end point location. Using this method, the wing module 510 can be navigated away from the delivery location prior to the delivery of the package 540, where the package 540 is released at the delivery location, while the rotor module 520 and the body module 530 navigate away from the delivery location after the package 540, where the package 540 has already been released at the delivery location.

[0108] This approach is beneficial because it provides the benefits of forward flight as well as VTOL and the benefits of using a VTOL UAV to augment navigation at low altitudes. In one aspect, because the wing module 510 is released at high altitude (such as up to 400 feet), it can use minimal power or glide to a location that is far from the delivery location. The wing module 510 is lighter in weight without the other modules, and thus can glide a long distance. The fuselage module 530 and the rotor module 520 can navigate to the nearest transport vehicle for docking and return to the transporter after delivery.

[0109] Reference is now made to Figure 6 , which provides an example modular UAV system. Figure 6 The example modular UAV system of

[0110] The cargo bin 600 is shown with a battery 606 that is disposed within the interior region 602. While shown as being located within the interior region 602, it is contemplated that the battery 606 can be integrated within the structure of the cargo bin 600 or coupled to the outer shell 604. The battery 606 communicates with other components of the modular UAV system (such as a power distribution device) through a battery connection 608.

[0111] The cargo bin 600 can be secured to any of the modules of the modular UAV system. As previously described, one example method for securing the cargo bin 600 includes a track and rail system. As shown in Figure 8 The cargo bin 600 includes a rail 610 of the track and rail system. The rail 610 can be used to secure the cargo bin 600 to a rotor module 612, a wing module 614, or a fuselage module 616. As described throughout, each of the modules of the modular UAV system can be arranged in various configurations to perform specific tasks. The cargo bin 600 can be secured to any of these configurations.

[0112] Referring now to method 700, an example method of delivering a package using embodiments of a modular UAV system is provided. At block 710, a package is coupled to a modular UAV system. The UAV system can include any combination of wing modules, rotor modules, or fuselage modules. The wing modules or rotor modules can be independent or can include any combination of components for various modular configurations. The package can be coupled to the modular UAV system at a package carrier or cargo bay secured to any module. At block 720, the modular UAV system is navigated to a delivery location. At block 730, a rotor module is released from a wing module of the modular UAV system at an altitude above the delivery location. At block 740, the wing module is navigated away from the delivery location while the rotor module is navigated to the delivery location. At block 750, the rotor module releases the package at the delivery location and the rotor module is navigated away from the delivery location.

[0113] Figure 9 Another example method of delivering a package using embodiments of a modular UAV system is illustrated. At block 810, a plurality of UAVs are coupled to form a UAV flight chain. At block 820, a plurality of packages are coupled to the UAV flight chain. At block 830, the UAV flight chain is navigated to a first location. At block 840, a UAV with a package is uncoupled from the UAV flight chain. At block 850, the uncoupled UAV with the package is navigated to a second location where the package is released.

[0114] Referring now to Figure 9 An example computing device 900 is provided, in particular. The computing device 900 should not be interpreted as having any dependency or requirement relating to any one or combination of the illustrated components.

[0115] The technology of the present disclosure can include a processor executing computer executable instructions, such as program modules, the instructions being executed by a computer or other machine, such as a personal data assistant or other handheld device. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. This technology can be practiced in a variety of system configurations, including hand-held devices, consumer electronic devices, general- purpose computers, more specialty computing devices, etc. This technology can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.

[0116] Referring now to Figure 9The computing device 900 includes a bus 910 that directly or indirectly couples the following devices: memory 912, one or more processors 914, one or more presentation components 916, input / output ports 918, input / output components 920, illustrative power supplies 922, and one or more Figure 9 While the various blocks of the computing device 900 are shown with lines for the sake of clarity, in reality, delineating various components is not so clear, and metaphorically, the lines and areas of a real device over which one component or one function ends, and another component or function begins, are now and then arbitrary. Thus, the delineation of Figure 9 components in the figure is illustrative only so as to more conceptually illustrate the computing device 900. As ​ various components of the computing device 900 are implemented in hardware, software, or a combination of hardware and software, the computing device 900 is not limited to any particular implementation.

[0117] The computing device 900 typically includes a variety of computer-readable media. Computer-readable media are media that a computing device 900 can read. Such

[0118] Computer-readable media can be any available media that can be accessed by computing device 900 and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer-readable media can comprise computer storage media and communication media.

[0119] Communication media generally embodies computer-readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio frequency (RF), infrared, and other wireless media. Combinations of the any of the above should also be included within the scope of computer-readable media.

[0120] Memory 912 includes computer-storage media in the form of volatile or non-volatile memory. The memory can be removable, non-removable, or a combination thereof. Exemplary hardware devices include solid-state memory, hard drives, optical drives, and the like. Computing device 900 includes one or more processors that read data from various entities such as memory 912 or I / O components 920. Presentation components 916 present data indications to a user or other device. Examples of presentation components include a display device, speaker, printing component, vibrating component, and the like.

[0121] I / O ports 918 allow computing device 900 to be logically coupled to other devices including I / O components 920, some of which can be built in. Illustrative components include a microphone, joystick, game pad, satellite dish, scanner, printer, wireless device, and the like.

[0122] The above embodiments can be combined with one or more of the specific alternatives described. In particular, in the alternatives, the claimed embodiments can contain references to more than one other embodiment. The claimed embodiments can specify further limitations of the claimed subject matter.

[0123] The subject matter of the technology is described herein with specificity to meet statutory requirements. However, the description itself is not intended to limit the scope of this disclosure. Rather, the inventors have contemplated that the claimed subject matter can also be embodied in other ways, to include different steps or combinations of steps similar to the ones described in this document, and in conjunction with other present or future technologies. Moreover, although the terms "step" or "block" can be used herein to connote different elements of the methods employed, the terms should not be interpreted as implying any particular order among or between various steps herein disclosed unless and except when the order of individual steps is explicitly stated.

[0124] As used in this disclosure, the word "delivery" is intended to mean "unloading" and "picking up" unless one of the options is impractical. For example, a "delivery vehicle" is a vehicle that is capable of picking up and unloading packages at a location. Unless otherwise stated to the contrary, the words "a" and "an," etc., include both the singular and the plural. Thus, for example, the constraint of "a feature" is satisfied where there is one or more features. Furthermore, the term "or" includes conjunctive, disjunctive, and both (thus a or b includes a or b and a and b).

[0125] From the foregoing, it will be appreciated that the technology is well adapted to carry out all the foregoing objects and indications, among others, including any other advantages that can be inherent to the structure. It will be appreciated that certain features and subcombinations are of utility and can be employed to advantage without reference to other features and subcombinations. This is contemplated by and is within the scope of the claims. Since many possible embodiments can be made of the technology described, it is to be understood that all matter herein described or illustrated will be interpreted, by the claims, as illustrative and not in a limiting sense.

Claims

1. A modular drone system comprising: A fuselage module includes a flight controller disposed within a fuselage shell, the fuselage shell having a first fuselage shell side and a second fuselage shell side, a fuselage connection member included on the first fuselage shell side; a rotor module including a rotor connection hub coupled to a plurality of motors, the rotor connection hub having a first hub side and a second hub side, the first hub side having a first rotor connection member and the second hub side having a second rotor connection member, wherein the first rotor connection member is removably coupled to the fuselage connection member; and a wing module including a wing having a first wing side and a second wing side, the second wing side including a wing connection member, wherein the wing connection member is removably coupled to the second rotor connection member, wherein the wing module is configured to receive a variety of wings having different designs, the flight controller being capable of identifying a particular type of wing, and upon the flight controller identifying the wing and its specifications, the flight controller being capable of reconfiguring flight parameters to adjust the behavior of the modular unmanned aerial vehicle system accordingly, and wherein the rotor module and the wing module are both capable of operating independently.

2. The modular drone system according to claim 1, wherein: The fuselage module also includes a first releasable cable connection joint; and the rotor module also includes an electronic speed controller and a second releasable cable connection joint, wherein when the first rotor connection member is removably coupled to the fuselage connection member, the first releasable cable connection joint is removably coupled to the second releasable cable connection joint to establish communication between the flight controller of the fuselage module and the electronic speed controller of the rotor module.

3. The modular drone system according to claim 2, wherein: The rotor module also includes a third releasable cable connection joint; and the wing module also includes at least one of flaps, elevators, ailerons or rudders and includes a fourth releasable cable connection joint, wherein when the second rotor connection member is removably coupled to the wing connection member, the third releasable cable connection joint is removably connected to the fourth releasable cable connection joint to establish communication between the flight controller of the fuselage module and at least one of flaps, elevators, ailerons or rudders.

4. The modular drone system according to claim 1, wherein: A power supply for the rotor module is associated with the fuselage module.

5. The modular drone system according to claim 1, wherein: The fuselage module includes a parcel transporter.

6. The modular drone system according to claim 1, wherein: Each motor of the plurality of motors is coupled to an arm that is removably coupled to the rotor module.

7. The modular drone system according to claim 1, wherein: The wing is removably coupled to the wing module.

8. The modular drone system according to claim 1, wherein: The rotor module includes a package transporter.

9. The modular drone system according to claim 8, wherein: A plurality of batteries can be included in at least one of the package transporter, the wing module, the rotor module, or the fuselage module, and the flight controller can balance the charge between each of the plurality of batteries to utilize each battery equally.

10. The modular drone system according to claim 9, wherein: The flight controller draws power from a particular one of the plurality of batteries to conserve battery power in other batteries of the plurality of batteries.

11. A method of assembling a modular drone system, the method comprising: coupling a first rotor connection member of a rotor module to a fuselage connection member of a fuselage module, the fuselage module including a flight controller disposed within a fuselage shell, the fuselage shell having a first fuselage shell side and a second fuselage shell side, the fuselage connection member being included on the first fuselage shell side; the rotor module including a rotor connection hub coupled to a plurality of motors, the rotor connection hub having a first hub side and a second hub side, the first hub side having a first rotor connection member and the second hub side having a second rotor connection member; as well as releasably coupling a first wing connection member of a wing module to the second rotor connection member, wherein the wing module includes a wing having a first wing side and a second wing side, the second wing side including the first wing connection member, and wherein the wing module is configured to receive a variety of wings having different designs, the flight controller is capable of identifying a particular type of wing, and after the flight controller identifies the wing and its specifications, the flight controller is capable of reconfiguring flight parameters to adjust the behavior of the modular drone system accordingly, and The rotor module and the wing module can both operate independently.

12. The method of claim 11, wherein the fuselage connection member further comprises a first releasable cable connection joint.

13. The method of claim 12, wherein the first rotor connection member further comprises a second releasable cable connection joint.

14. The method of claim 13, wherein releasably coupling the first rotor connection member of the rotor module to a fuselage connection member of a fuselage module further comprises connecting the first releasable cable connection joint and the second releasable cable connection joint.

15. The method of claim 14, wherein coupling the first releasable cable connection joint and the second releasable cable connection joint communicatively couples the fuselage module and the rotor module.

16. A method for delivering a package using a modular drone system, the method comprising: coupling a package to the modular drone system, the modular drone system comprising a wing module, a rotor module, and a fuselage module including a flight controller disposed within a fuselage shell, the wing module including a wing having a first wing side and a second wing side, the second wing side including a wing connection member, wherein the wing connection member is removably coupled to a second rotor connection member of the rotor module, the wing module being configured to receive a variety of wings having different designs, the flight controller being capable of identifying a particular type of wing, and upon the flight controller identifying the wing and its specifications, the flight controller being capable of reconfiguring flight parameters to adjust the behavior of the modular drone system accordingly; and navigating the modular drone system to a delivery location associated with the package; and navigating the rotor module and the fuselage module away from the delivery location, wherein the rotor module and the wing module are capable of independent operation.

17. The method of claim 16, wherein the wing module navigates from the delivery location to a first destination location, and the rotor module and the fuselage module navigate from the delivery location to a second destination location different from the first destination location.

18. The method according to claim 16, wherein The rotor module and the fuselage module are retrieved by a transporter at the delivery location, and then the rotor module and the fuselage module are navigated away from the delivery location.

19. The method according to claim 16, wherein The rotor module and the fuselage module are navigated away from the delivery location using a power source associated with at least one of the fuselage module or the rotor module.

20. The method of claim 16, wherein the wing module navigates away from the delivery location before releasing the package at the delivery location, and wherein the rotor module and the fuselage module navigate away from the delivery location after releasing the package at the delivery location.

21. The method of claim 16, wherein the wing module includes wing motors, and the wing module navigates away from the delivery location by self-propulsion using the wing motors.

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