System for load transfer between transport platforms

Abstract

The disclosed invention relates to a system (100) capable of aerial load transfer between unmanned aerial vehicles (UAVs). The system (100) includes a pair of transfer container modules (TCMs) (102). Each TCM (102) comprises a container (104) with a slot (106) for a load box, a slider (108) with an engagement means, and a flexible link for transfer between drones. The system (100) incorporates a cardan joint (126) to achieve rotational degrees of freedom and a streamlined air transfer process. The engagement means (110) comprise a first finger (116) configured to be unfolded and folded, and the sleeve comprises one or more flaps such that when the first finger is unfolded, the first finger engages with the one or more flaps to move the flaps to an unfolded flap position, and the first finger and flaps act as means to couple the sleeve (112) with the load box.

Description

Technical Field

[0001] The present disclosure relates to the field of payload transportation. In particular, it relates to aerial payload transfer between transportation platforms such as unmanned aerial vehicles (UAVs). Background Art

[0002] The background description includes information that may be helpful in understanding the present invention. This does not mean that any information provided herein is prior art related to the present invention, nor does it mean that any publication explicitly or implicitly referenced is prior art.

[0003] Integrating unmanned aerial vehicles (UAVs), including drones and quadcopters, into modern, multimodal cargo delivery systems has revolutionized operational capabilities. However, specialized infrastructure is required to facilitate the transfer of payloads between UAVs during aerial missions. This limitation becomes particularly pronounced when considering emergency situations requiring real-time cargo adjustments, such as swapping rechargeable batteries between UAVs to maintain uninterrupted aerial operations.

[0004] Despite efforts to address these challenges, existing technologies must confront the inherent sophistication inherent in aerial payload transfer scenarios. For example, automated air-to-air refueling mechanisms are limited to liquid fuel transfer, establishing a physical link between in-flight vehicles for refueling. Meanwhile, automated battery swap platforms allow for replacement of drone batteries while on land. However, their efficiency decreases when aerial operations are required, requiring the drone to return for battery replacement. Even the widely used drone delivery systems, which tether payloads to the underside of the aircraft for point-to-point transport, require more complex aerial payload transfers between drones.

[0005] Therefore, there is a need for an improved mechanism for mid-air payload transfer between drones. Such innovative solutions could not only fill the gaps in drone capabilities but also bring new dimensions of operational efficiency and adaptability. These advances, in turn, have far-reaching implications for optimizing cargo delivery, surveillance, and other applications that rely on the seamless exchange of payloads during drone flight operations.

[0006] Therefore, it is necessary to develop a mechanism for transferring a load from one transport platform to another while both transport platforms are airborne and to provide a system for transferring loads between transport platforms.

[0007] Purpose of the Invention

[0008] The present disclosure provides a system for aerial payload transfer between unmanned aerial vehicles (UAVs).

[0009] An object of the present disclosure is to provide a transfer container module (TCM) having a container, a slot, and a slide for optimizing the containment and transfer of payload boxes.

[0010] The object of the present disclosure is to incorporate an engagement device equipped with first and second fingers within a TCM to achieve controlled coupling and release of a load box and to capture a flexible link.

[0011] An object of the present disclosure is to provide a transfer device that is slidable along a joint device to efficiently carry and transfer a payload box between drones.

[0012] It is an object of the present disclosure to provide a device having a second finger at the free end of the engagement device for facilitating controlled capture and release of a flexible link throughout the load transfer process.

[0013] The present invention is directed to incorporating a tension adjustment device within the TCM for releasing and adjusting the tension in the flexible link during air load transfer. Summary of the Invention

[0014] Aspects of the present disclosure relate to the transportation of payloads. In particular, it relates to the transfer of aerial payloads between transport platforms such as unmanned aerial vehicles (UAVs).

[0015] In one aspect, the present disclosure provides a system for aerially transferring a payload from one unmanned aerial vehicle (UAV) to another. The system includes a pair of transfer container modules (TCMs), and each TCM includes a plurality of containers, each container configured to accommodate a payload box for holding a payload and having an open end for entry or exit of the payload box. The TCM includes a plurality of slots configured on the TCM along the length of each container, and the plurality of slots provide access to the desired payload box to couple a transfer device to the payload box. In addition, the TCM includes a slider configured to move along a transverse plane of the TCM, and the slider includes a coupling device configured to move with the slider to align with one of the plurality of slots. In addition, the TCM includes a flexible link extending from a free end of the coupling device to slide along the coupling device and the flexible link together with the coupled payload box through a sleeve, facilitating the transfer of the payload box from one UAV to another. The system also includes a sleeve that is slidably configured in the coupling device and serves as a transfer device coupled to the desired payload box.

[0016] In an embodiment, the TCM may include an engagement arrangement comprising a set of first fingers configured to expand and fold, and the sleeve includes one or more flaps such that when the first fingers expand, the first fingers engage the one or more flaps to move the flaps to a deployed flap position, wherein the first fingers and flaps serve as a means for coupling the sleeve to the payload tank.

[0017] In an embodiment, the load box includes a female coupling protruding from a corresponding slot, and the sleeve includes a male coupling secured to one or more tabs of the sleeve such that when the tabs are moved from the deployed tab position to the folded tab position, the male coupling engages the female coupling to couple the load box to the sleeve.

[0018] In an embodiment, one TCM in a pair of TCMs may include a tension adjustment unit configured together with an engagement device to release / retract a flexible link and adjust the tension in the flexible link after a link is established between one unmanned aerial vehicle (UAV) and another UAV.

[0019] In an embodiment, a flexible link from the tension adjustment unit to the free end of the engagement device is housed within the engagement device.

[0020] In an embodiment, the system may include one or more gimbals to mechanically couple one or more TCMs of a pair of TCMs to a corresponding drone, with the gimbals providing free or powered rotational degrees of freedom to the corresponding TCM about one or more axes of rotation.

[0021] In an embodiment, the system may include a mass adjuster unit configured to dynamically adjust the eccentricity of the center of mass during receipt or release of the payload cell.

[0022] In another aspect, the present invention provides a sleeve for facilitating the aerial transfer of a payload from one unmanned aerial vehicle (UAV) to another UAV. The sleeve may include a hollow housing that is slidably configured to engage a transfer container module coupled to the UAV. The sleeve includes one or more flaps pivotally secured to the housing for movement between an expanded position and a collapsed position and biased to remain in a closed position; and a male coupling secured to the one or more flaps of the sleeve.

[0023] In an embodiment, when a set of first fingers of the engagement device moves to the deployed position, the set of first fingers engages with one or more flaps to move the flaps to the deployed flap position, and when the set of first fingers moves back, the one or more flaps move back to the folded flap position under the action of the biasing force.

[0024] In an embodiment, when one or more flaps are moved to a folded flap position, the male end coupling device engages with the female end coupling device to couple the payload box to the sleeve, such that when the sleeve moves along the coupling device and the flexible link coupled to the coupling device, the payload box is transported from the drone to another drone coupled to the other end of the flexible link.

[0025] In an embodiment, the sleeve may include rollers to enable smooth movement of the sleeve over the engagement means and the flexible link.

[0026] In an embodiment, the rollers are powered to assist in moving the sleeve with the coupled load cell.

[0027] In an embodiment, the housing may include one or more windows through which the set of first fingers of the engagement means move to the deployed position to engage with the one or more flaps.

[0028] In another aspect, the present disclosure provides a device for establishing a link between a first unmanned aerial vehicle (UAV) and a second unmanned aerial vehicle for performing an aerial transfer of a load between the UAVs. The device includes a transfer container module (TCM) configured in each of the first and second UAVs. Each TCM includes a coupling device. The device includes a tension adjustment unit, which is configured in the TCM of one of the first and second UAVs. The tension adjustment unit is configured to release / retract a flexible link and adjust the tension in the flexible link after the link is established between the first UAV and the second UAV, so that the flexible link passes through the coupling device of the corresponding TCM and the free end of the flexible link is suspended outside the free end of the coupling device. The device also includes a set of second fingers, which are arranged at the free end of the coupling device of the TCM of the other of the first and second UAVs. The set of second fingers is configured to move between an open position and a closed position to capture the flexible link.

[0029] In an embodiment, the other of the first and second UAVs comprises a V-shaped guide configured to guide the flexible link towards the free end of the engagement device. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are included to provide a further understanding of the present disclosure, and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and together with the description serve to explain the principles of the present disclosure.

[0031] Figure 1A An exemplary front perspective view of a transfer container module (TCM) is shown according to an embodiment of the present disclosure.

[0032] Figure 1B An exemplary rear perspective view of a (TCM) according to an embodiment of the present disclosure is shown.

[0033] Figures 2A-2D An exemplary engagement device configured on a TCM according to an embodiment of the present disclosure is shown.

[0034] Figure 3 An exemplary perspective view of a sleeve according to an embodiment of the present disclosure is shown.

[0035] Figures 4A-4BAn exemplary sleeve illustrating operation thereof is shown according to an embodiment of the present disclosure.

[0036] Figure 5 An exemplary block diagram of a system having a ground station for controlling the system according to an embodiment of the present disclosure is shown.

[0037] Figures 6A-6B An exemplary view of a TCM with gimbal operation is shown according to an embodiment of the present disclosure.

[0038] Figures 7A-7C Depicted are various stages of payload tank transfer between the TCMs of UAV- 1 and UAV- 2 , according to an embodiment of the present disclosure.

[0039] Figure 8 A V-shaped guide configured to guide a flexible link toward a free end of an engagement device is shown according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] The following is a detailed description of the embodiments of the present disclosure depicted in the accompanying drawings. The embodiments are described in such detail so as to clearly convey the present disclosure. However, the amount of detail provided is not intended to limit the intended variations of the embodiments; rather, the intention is to cover all modifications, equivalents, and alternatives falling within the scope of the present disclosure as defined by the appended claims.

[0041] Embodiments herein relate to a system for aerially transferring a payload from one unmanned aerial vehicle (UAV) to another unmanned aerial vehicle. The system includes a pair of transfer container modules (TCMs), and each TCM includes a plurality of containers, each container being configured to accommodate a payload box for holding a payload and having an open end for entry or exit of the payload box. The TCM includes a plurality of slots configured on the TCM along the length of each container, and the plurality of slots provide access to the desired payload box to couple the transfer device to the payload box. In addition, the TCM includes a slide configured to move along a transverse plane of the TCM, and the slide includes an engagement device and is configured to move with the slide to align with one of the plurality of slots.

[0042] Furthermore, the TCM includes a flexible link extending from a free end of the engagement device to facilitate transfer of a payload container from one UAV to another by sliding along the engagement device and the flexible link together with the coupled payload container via a sleeve. The system also includes a sleeve slidably disposed in the engagement device and serving as a transfer device for coupling with a desired payload container.

[0043] Another embodiment herein relates to a sleeve for facilitating the aerial transfer of a payload from one unmanned aerial vehicle (UAV) to another UAV. The sleeve may include a hollow housing that is slidably configured to engage a transfer container module coupled to the UAV. The sleeve includes: one or more flaps pivotally secured to the housing to move between an expanded position and a folded position and biased to remain in a closed position; and a male end coupling device secured to the one or more flaps of the sleeve. When a set of first fingers of the engagement device are moved to the expanded position, the set of first fingers engage the one or more flaps to move the flaps to the expanded flap position, and when the set of first fingers are moved back, the one or more flaps move back to the folded flap position under the action of a biasing force.

[0044] Another embodiment herein relates to a device for establishing a link between a first unmanned aerial vehicle (UAV) and a second unmanned aerial vehicle (UAV) for performing an aerial transfer of a payload between the UAVs. The device includes a transfer container module (TCM) configured in each of the first and second UAVs. Each TCM includes an engagement device. The device includes a tension adjustment unit configured in the TCM of one of the first and second UAVs. The tension adjustment unit is configured to release / retract a flexible link and to adjust the tension in the flexible link after the link is established between the first UAV and the second UAV so that the flexible link passes through the engagement device of the corresponding TCM and the free end of the flexible link is suspended outside the free end of the engagement device. The device also includes a set of second fingers disposed at the free end of the engagement device of the TCM of the other of the first and second UAVs. The set of second fingers is configured to move between an open position and a closed position to capture the flexible link.

[0045] It should be further understood that although Figures 1A to 8 The exemplary illustrations depict the present invention for aerial transfer of a payload from one unmanned aerial vehicle (UAV) to another, but actual applications extend beyond this scope, and the system configuration may not be limited to facilitating aerial transfers between only two UAVs. The system may be applicable to aerial transfers from one UAV to multiple other UAVs. Such variations are well within the scope of the present application without imposing any limitations. Furthermore, while the apparatus is described as being configured for use with UAVs, the system's adaptability is not limited to UAVs, but also includes other transport platforms. Essentially, the configurations shown in the figures illustrate potential applications of the system, but do not limit its functionality to UAV-specific scenarios. The present disclosure encompasses a broader scope, accommodating various embodiments involving different transport platforms. All such embodiments are well within the scope of the present disclosure without any limitations.

[0046] about Figures 1A to 8, further details the proposed load transfer system between transport platforms. It should be noted that the drawings of the present subject matter shown herein are for illustration purposes only and should not be construed as limiting the scope of the claimed subject matter. Furthermore, some of the drawings may have been explained together, and the same reference numerals may have been used to refer to the same components and entities.

[0047] The present invention solves the challenge of aerial payload transfer between unmanned aerial vehicles (UAVs). Figures 1A to 8 , discloses a system 100 for transferring a payload from one unmanned aerial vehicle (UAV) to another UAV. The system 100 (e.g. Figure 5 As shown) may include a pair of transfer container modules (TCM 102) (as Figure 1A and Figure 1B ), each module is configured for a corresponding drone. Each TCM 102 may include a plurality of containers 104, each container 104 being configured to accommodate a payload box for holding a payload and having an open end for entry or exit of the payload box. For example, the TCM 102 may be equipped with containers 104, each of which is capable of accommodating a payload box. In the example, the payload box may provide a standard / uniform housing for the objects it holds. Furthermore, the standard housing is well adapted to allow entry / exit through the container 104 and the slot 106. In the example, the payload box is designed to securely hold delicate instruments, ensuring their safety and integrity during aerial transfer. In the example, the shape of the example TCM 102 as shown is rectangular, however the TCM 102 may be configured to adapt the shape based on design requirements, and all such embodiments are fully within the scope of the present disclosure without limitation.

[0048] In an embodiment, each transfer container module (TCM 102) is equipped with a plurality of containers 104, such as Figure 1A As shown, each container 104 is configured to accommodate a payload box containing a payload. These containers 104 have open ends, allowing the delivery or reception of payload boxes. In addition, the TCM 102 has a plurality of slots 106 arranged along the length of each container 104. These slots 106 provide access to the required payload box, enabling a transfer device to be connected to the payload box. In this document, a transfer device refers to a device responsible for facilitating the connection and movement of a payload box from one drone to another. The arrangement of the slots 106 ensures a safe and accessible connection interface, allowing efficient transfer of payloads between drones (UAVs).

[0049] In an embodiment, the TCM 102 may include a slide (eg, Figure 1B102 ), the slide is configured to move along a transverse plane of the TCM 102. The slide can be configured to facilitate precise alignment and positioning of the engagement device 110. The engagement device 110 is configured in conjunction with the slide and is configured to move synchronously with the movement of the slide. For example, as the slide moves laterally along the transverse plane, it aligns with one of the plurality of slots 106 present in the TCM 102. The engagement device 110 configured in conjunction with the slide is strategically positioned to interact with a payload box housed within the container 104 associated with the selected slot. Additionally, the engagement elements can have different cross-sections and can incorporate various shapes, such as circular, square, rectangular, etc.

[0050] In an example, a transfer container module (TCM 102) can incorporate sensors and actuators strategically configured within its structure. These sensors and actuators work together to facilitate the TCM 102 to select a slot 106 through a controller. The sensors within the TCM 102 are designed to collect relevant information, such as the occupancy status of each slot, etc. These sensors can utilize various detection mechanisms, such as limit switches, optical sensors, proximity sensors, or any suitable device to determine the availability of a slot 106. At the same time, the actuators within the TCM 102 respond to signals from the controller. Based on the data received from the sensors, the controller processes the information and generates commands for the actuators. These actuators are responsible for physically manipulating the components within the TCM 102 to select a specific slot.

[0051] Under the direction of the controller, the coordinated action of sensors and actuators enables the TCM 102 to dynamically and autonomously select a slot to accommodate the payload tank. This functionality enhances the adaptability and efficiency of the aerial load transfer system 100 by allowing the TCM 102 to intelligently and flexibly respond to changing operating conditions and payload requirements.

[0052] The engagement between the slider's engagement device 110 and the payload box ensures secure connection and disconnection, allowing a transfer device, such as a sleeve 112, to be effectively coupled to the payload box. This coordinated movement of the slider and engagement device 110, combined with the slot arrangement, creates a robust system 100 for controlled and efficient aerial transfer of payloads between unmanned aerial vehicles (UAVs).

[0053] Additionally, the system 100 includes a flexible link 114 (e.g., Figures 2A-2B and Figures 6A-7C112 , which is the portion of the transfer device that is responsible for coupling with the payload box. As the sleeve 112 slides along the coupling device 110 with the coupled payload box, the flexible link 114 accommodates the movement and adjustments required for a seamless transfer process.

[0054] In an embodiment, the disclosed TCM 102 may include an engagement device 110 that features a set of first fingers 116 configured to expand and collapse. Simultaneously, the system 100 includes a sleeve 112 that incorporates one or more fins 130 designed to move between a deployed fin position and a folded fin position. The coordinated interaction between the first fingers 116 of the engagement device 110 and the fins 130 on the sleeve 112 forms an integral part of the airborne load transfer operation.

[0055] When the first finger 116 is extended (eg Figure 2B and Figure 2D ), which contact the tabs 130 on the sleeve 112 (as shown Figure 4B (as shown). This interaction triggers the flaps 130 to move from the folded position to the deployed flap position. The deployed state of the flaps 130, in conjunction with the first finger, establishes a coupled state. This coordinated coupling mechanism serves as a means of securely coupling the sleeve 112 to the payload box during air transfer operations, ensuring a stable and controlled connection.

[0056] Furthermore, the system 100 incorporates a coupling arrangement between the load box and the sleeve 112. The load box, located in the corresponding slot, is provided with an outwardly projecting female coupling device 120. Complementarily, the sleeve 112, and in particular the tabs 130, have a male coupling device 122 (e.g. Figure 3 and Figure 4B(as shown). The male coupling 122 on the flap 130 is strategically positioned to engage the female coupling 120 on the payload box. Engagement between the male and female couplings occurs when the flap 130 transitions from the deployed flap position to the folded flap position. During this movement, the male coupling 122 on the flap 130 is effectively connected to the female coupling 120 on the payload box. This interaction creates a secure connection, ensuring that the sleeve 112 remains securely attached to the payload box during aerial transfer operations. The movement of the flap 130 and the engagement of the male and female couplings. This carefully orchestrated interaction ensures a secure and controlled connection between the sleeve 112 and the payload box.

[0057] In one embodiment of the present invention, one TCM 102 of a pair of TCMs 102 includes a tension adjustment unit 124 that is configured together with the coupling device 110 to release / retract the flexible link 114. In addition, the tension adjustment unit 124 is capable of ensuring smooth entry / exit of the payload box. First, the tension adjustment unit 124 (also known as TRU) is configured to enable controlled release / retraction of the flexible link 114 through the coupling device 110. This controlled release / retraction is a key step in initiating and establishing a link with another UAV during an aerial transfer operation. The coupling device 110 cooperates with the tension adjustment unit 124 to ensure precise and controlled deployment of the flexible link 114 from one UAV to another.

[0058] Secondly, the tension adjustment unit 124 is further configured to adjust the tension in the flexible link 114 after the link is established between the two drones. Once the flexible link 114 is deployed and the connection is established between the TCMs 102 of the respective drones, the tension adjustment unit 124 actively manages and adjusts the tension level in the flexible link. In an example, the joint device 110 can adopt a design featuring a hollow rod, telescoping tubes, parallel tubes, or any other design configuration.

[0059] In an embodiment, the engagement device 110 of one of the pair of transfer container modules (TCM 102) is equipped with a set of second fingers (e.g. Figure 2C and 2D) and is configured to grasp the flexible link 114 released by the corresponding TCM 102 of the pair. For example, the second finger is configured to grasp the flexible link 114 released by the tension adjustment unit 124 of the other TCM 102 in the pair. This particular configuration ensures a controlled transfer operation. The engagement device 110, featuring the second finger, grasps and manages the released flexible link. For example, the second finger opens to be in a ready state to securely grasp the suspended flexible link 114 and is configured to close once the flexible link 114 is securely grasped, thereby forming a reliable mechanism for managing the transferred load.

[0060] In an embodiment, the transfer container module (TCM 102) may incorporate one or more universal joints 125, 126 (e.g., Figure 1A and 1B , for mechanically coupling a pair of TCMs 102 and their respective UAVs. For example, universal joints 125, 126 provide the associated TCMs 102 / containers 104 with freedom of rotational motion and powered actuation about one or more axes. This dynamic feature enhances the adaptability of the system 100, allowing the TCMs 102 to smoothly adjust their orientation according to evolving operational requirements during aerial load transfer (e.g., Figure 6A and 6B shown).

[0061] For example, consider a scenario where drones are hovering in the air, each with a TCM 102 attached via a gimbal mechanism. Now, as the drones begin a load transfer operation, various factors come into play. These can include, but are not limited to, changes in wind direction, changes in the weight of the payload, or the need for precise alignment during the transfer. In this scenario, the gimbals 125, 126 play a vital role. As the drones perform the transfer, the gimbals 125, 126 allow the TCM 102 to seamlessly adapt to these changing operational requirements. For example, if a sudden gust of wind affects one drone more than another, the gimbals 125, 126 allow the TCM 102 on the affected drones to make real-time adjustments, ensuring that the load transfer remains stable and controlled. The gimbals 125, 126 have powered degrees of freedom that allow the TCM 102 to actively control its orientation (e.g., Figure 6A and 6B shown).

[0062] The system may also include a mass conditioner unit 134 (e.g. Figure 1A and 1B) to dynamically manage center of mass deviation during the receipt or release of a payload box. The mass adjuster unit 134 can cause the transfer control module (TCM) to mechanically slide in the horizontal plane, thereby facilitating fine adjustment to offset any deviation in center of mass. In an example, the mass adjuster unit 134 responds to changes in center of mass caused by the load weight distribution during the receipt or release of a payload box.

[0063] For example, when a payload box is received, it causes a significant shift in the center of mass. Upon detecting this shift, the mass adjuster unit 134 promptly initiates the TCM's horizontal mechanical sliding motion. This coordinated sliding motion is carefully calibrated to realign the center of mass to the ideal position, ensuring balance and stability during the aerial transfer. Conversely, when the payload box is released, the mass adjuster unit 134 anticipates the impending center of mass shift and utilizes the TCM's mechanical sliding mechanism to restore balance, enabling precise and regulated aerial load transfer.

[0064] In another embodiment of the present invention, a sleeve 112 (such as Figure 3 and Figure 4A and 4B ), for facilitating the aerial transfer of a load from one unmanned aerial vehicle (UAV) to another UAV. The sleeve 112 may include a hollow shell 132 that is slidably configured to be coupled to a coupling device 110 of a transfer container module of the UAV. For example, the sleeve 112 includes rollers 131 to enable the sleeve 112 to move smoothly on the coupling device 110 and the flexible link. The rollers are incorporated to facilitate smooth movement of the sleeve 112 along the coupling device 110 and the flexible link. The rollers are capable of minimizing friction and ensuring seamless and controlled load transfer between UAVs. In addition, the rollers can be configured in different shapes to accommodate the coupling element and the flexible link.

[0065] In an example, rollers 131 can be powered to assist in moving sleeve 112 and the attached payload container. In this configuration, the rollers can assist in moving sleeve 112 and the attached payload container. Powered rollers enhance the capabilities of transfer system 100 by providing controlled and powered assistance during aerial transfers, ensuring precise and responsive payload transfers between drones.

[0066] In addition, the sleeve 112 is equipped with one or more wings 130 and a male end coupling device 122, the wings 130 being pivotally fixed to the housing 132 and capable of being moved between an expanded and a collapsed position (eg, Figure 310, the male end coupling 122 is fixed to one or more tabs 130 of the sleeve 112. The movement of the tabs 130 between the deployed and folded positions is achieved by the interaction of the tabs 130 and the first set of fingers of the engagement device 110. When the first set of fingers transitions to the deployed position (as shown), the male end coupling 122 is fixed to one or more tabs 130 of the sleeve 112. The movement of the tabs 130 between the deployed and folded positions is achieved by the interaction of the tabs 130 and the first set of fingers of the engagement device 110. Figure 4B 130, which actively engages the flaps 130, causing them to unfold. Conversely, when the first finger is retracted, the flaps 130 are biased to smoothly return to their folded position. For example, the biasing force responsible for the controlled movement of the flaps 130 can be generated by a spring 136 or similar mechanism. This biasing force ensures that the flaps 130 reliably return to their folded position when not actively engaged.

[0067] For example, when one or more of the flaps 130 are moved to the folded flap position, the male coupling 122 on the sleeve 112 connects with the female coupling 120 on the payload box, facilitating coupling of the payload box to the sleeve 112. Thus, the payload box is smoothly transported from one unmanned aerial vehicle (UAV) to another UAV, to which the other end of the flexible link 114 is coupled.

[0068] In this operating condition, the male coupling 122 and the female coupling 120 cooperate as a coupling mechanism. The male coupling, which is attached to one or more tabs 130 of the sleeve 112, operatively engages the female coupling 120, which protrudes from corresponding slots on the load box. This interaction occurs when the tabs 130 are in the folded tab position, ensuring a secure connection between the sleeve 112 and the load box.

[0069] As sleeve 112 smoothly travels along engagement mechanism 110 and the connected flexible link 114, the payload container is transferred from the originating UAV to the destination UAV. The other end of flexible link 114, coupled to engagement mechanism 110, ensures coordinated movement of sleeve 112 and payload container during the aerial transfer. Thereafter, as sleeve 112 continues to smoothly travel along engagement mechanism 110 and the flexible link, the payload container is transferred from one UAV to the other. The other end of flexible link 114 is coupled to a second UAV.

[0070] In an embodiment, the housing 132 of the sleeve 112 may include one or more windows. The windows are positioned to allow the set of first fingers 116 of the engagement device 110 to move into the deployed position. This design helps enhance the interaction between the first fingers 116 and the flaps 130, ensuring precise engagement and deployment. For example, during an aerial transfer operation, when the set of first fingers 116 on the engagement device 110 moves into the deployed position, the windows in the housing 132 come into play. These windows provide an unobstructed path for the first fingers 116 to move, enabling them to smoothly and precisely engage the flaps 130. This design ensures that the first fingers 116 seamlessly reach the deployed position, promoting secure connection and disconnection between the engagement device 110 and the flaps 130 of the sleeve 112.

[0071] In another aspect of the present disclosure, an apparatus for establishing a link between a first unmanned aerial vehicle (UAV) and a second UAV to facilitate aerial payload transfer is disclosed. The apparatus includes a transfer container module (TCM 102), as shown in Figures 1 and 2, configured with each UAV, and each TCM 102 is equipped with an engagement device 110.

[0072] In an embodiment, the disclosed apparatus includes a tensioning unit 124 (as shown) associated with one of a pair of drones. The tensioning unit 124 is configured to facilitate the controlled release / retraction of the flexible link 114 through the engagement device 110. Upon release, the flexible link 114 extends from the free end of the engagement device 110. Simultaneously, the other of the first and second drones is equipped with a set of second fingers at the free end of its engagement device 110, which are designed to dynamically move between open and closed positions to precisely grasp the released flexible link.

[0073] For example, in an operational scenario involving two drones engaged in an aerial load transfer, the tension adjustment unit 124 on one drone performs a controlled release / retraction of the flexible link 114 through the internal hollow channel of its engagement device 110. Simultaneously, the engagement device 110 on the other drone uses a set of second fingers to grasp the flexible link 114 as the second fingers move from an open position to a closed position. This synchronized and controlled release and capture mechanism ensures a safe and secure aerial transfer between drones.

[0074] Additionally, the other of the first and second drones incorporates a V-shaped guide 140 configuration (e.g., Figure 8 (As shown in the figure). This guide is designed to guide the flexible link 114 toward the free end of the engagement device 110, enabling precise capture. Furthermore, it acts as a protective device, preventing potential interference between the flexible link 114 and the propellers on the corresponding drone. This protective design enhances the overall safety and reliability of the aerial load transfer system 100.

[0075] In the disclosed exemplary embodiment, as shown in Figures 6 and 7, a system 100 is shown for UAVs 1 and 2 designed for aerial payload transfer between UAVs. Each UAV, labeled UAV 1 and UAV 2, is integrated with a transfer container module (TCM 102). Figure 1A and 1B As shown, the TCM 102 incorporates components including, but not limited to, a controller, wireless communication devices, and an array of sensors strategically placed in each slot to determine vacancy status.

[0076] In an exemplary embodiment, when considering a pair of drones, a specific configuration is established in which one drone acts as a master drone and the other serves as a slave drone. The master drone is equipped with basic components, including a tension regulation unit (TRU), a flexible link, and a stopper 138. The TRU is responsible for regulating the tension, the flexible link facilitates the connection between the two drones, and the stopper 138 ensures a secure attachment during the load transfer process. In contrast, in this configuration, the slave drone incorporates a V-shaped guide 140 and a set of second fingers within the engagement element. These components on the slave drone help to receive and grasp the flexible link released by the master drone. In addition, the slave drone is equipped with a camera dedicated to image analysis, enabling functions such as search, alignment, and other vision-based operations during the load transfer process.

[0077] The communication network within system 100 involves a TCM 102 controller, which communicates with the drone's autopilot or flight control software. The system may also include one or more sensors located within the joint elements, TCM, gimbal position, and tension adjustment units. These sensors are in continuous communication with the controller, relaying information related to one or more operations within the system. The piloting software manages flight dynamics and altitude control, ensuring precise adjustments during mid-air maneuvers. A wireless communication module facilitates communication between one or more drones and executes one or more operations.

[0078] In an embodiment, the system can be configured to achieve precise positioning and alignment between UAV 1 and UAV 2. After achieving precise positioning and alignment, the controller on UAV 1 signals the tension adjustment unit 124, which is equipped with an engagement device 110 on UAV 1, to release the flexible link. The engagement device 110 of one TCM 102 uses a second set of fingers to capture the flexible link 114 released by the other TCM 102, and the system 100 autonomously maintains the tension value range through the combined effect of the TRU and the adjustment of the distance / height between UAV 1 and UAV 2.

[0079] By configuring a flexible link between UAV 1 and UAV 2, a controlled transfer of load from UAV-1 to UAV-2 under the influence of gravity is facilitated by arranging the release of the load by activating the latch. This process is guided by the sleeve 112, as shown in FIG. Figure 3 、 Figure 4A and Figure 4B As shown in the figure, upon reaching the corresponding slot in UAV-2, the payload box is detected by sensors and secured in place by activating the corresponding latches. Once the transfer is complete, a wireless message is relayed, prompting UAV-2 to release the flexible link and UAV-1 to retract it. The UAVs are then decoupled and can navigate autonomously in their respective directions.

[0080] In an embodiment of the present invention, the initiation of the payload transfer process for UAV 1 / UAV 2 is autonomously executed or triggered by ground control software (GCS). System 100 is specifically configured to calculate the intersection point of UAV 1 and UAV 2, including latitude, longitude, altitude, and heading. For example, UAV 1 / UAV 2 equipped with a payload takes off and arrives at a designated location specified by the GCS. After arriving at their respective locations, UAV 1 / UAV 2 or both UAVs can begin searching for each other using GPS location, beacon signals, and image analysis. Once recognized, the UAVs begin the process of aligning with each other.

[0081] In the example scenario, if Figure 7A As shown, in which UAV 1 is configured to carry and transfer a payload to UAV 2, the GCS or embedded controller in UAV 1 communicates with the transfer container module (TCM 102) of one of the UAVs to release the flexible link. For example, UAV 1 can release the flexible link, allowing it to hang vertically below, and then notify UAV 2 to approach and grab the vertically hanging flexible link. UAV 2 moves forward and uses the V-shaped guide 140 to center the flexible link, which is now within the range of the second finger. After grabbing the flexible link, UAV 2 moves backward, creating sufficient tension in the flexible link so that the stop 138 at the end of the flexible link snaps into the TCM 102 rod of UAV 2.

[0082] Figures 7A to 7C The process of transferring the payload tank between the transfer container modules (TCM) 102 of UAV-1 and UAV-2 using flexible links is demonstrated. Figure 7A In FIG, UAV-1 and UAV-2 are aligned relative to each other. Figure 7BThe figure shows UAV-1 ascending to a higher altitude, causing the payload box to be released from TCM 102. Alternatively, UAV 1 can use the universal joint to adjust the orientation of the TCM to release the payload box. The payload box then descends along the flexible link due to gravity and arrives at one of the containers of TCM 102 of UAV-2 and is received. After the payload box transfer is completed, the flexible link can be disconnected, as shown in FIG. Figure 7C shown.

[0083] Furthermore, both UAV 1 and UAV 2 may integrate image analysis circuitry to perform tasks such as mutual search and self-alignment, and may include beacon circuitry for mutual positioning. The TCM 102 controller is responsible for tasks such as identification, authentication, internal operations, and communication with the corresponding autopilot systems of the UAVs and other TCMs 102 via wireless modules. Furthermore, the TCM 102 controller's control range extends to various components, including but not limited to the TCM 102 gimbals 125 and 126, limit switches, slides, and latches on the transfer container module.

[0084] Furthermore, the entire system 100 is configured for autonomous aerial payload transfers between UAVs and can be effectively controlled by a ground station equipped with ground control software (GCS) and a graphical user interface (GUI) that enables an operator to serve as a command center for coordinating the payload transfer process and control / monitor the health of the TCM 102 during operation.

[0085] Thus, the present invention addresses the shortcomings of current unmanned aerial vehicle (UAV) cargo transport systems by introducing a system 100 for aerially transferring payloads between UAVs. It effectively mitigates the inherent limitations of the existing technology. The present invention comprises a pair of transfer container modules (TCMs 102) equipped with containers 104 for payload containers. Each TCM features a slot 106, a slider, a sleeve 112, and a flexible link. The slider's engagement mechanism 110 facilitates transfer of payload containers between UAVs.

[0086] The system 100 also incorporates a tension adjustment mechanism and universal joint 125 for enhanced control and adaptability. An attached sleeve 112 incorporates tabs 130 and hooks for secure payload attachment, while powered rollers ensure smooth movement. The TCM 102's engagement mechanism 110 includes first and second fingers for precisely coupling and releasing flexible links to enable mid-air payload transfer. This enables seamless mid-air payload exchange between drones, providing unparalleled operational efficiency, adaptability, and versatility in applications such as cargo delivery and surveillance, fundamentally transforming drone capabilities in dynamic operational scenarios.

[0087] Advantages of the invention

[0088] The present invention provides a simple, time-saving and efficient system for transferring payloads between drones in the air.

[0089] The present invention provides a system having a slider mechanism and an engagement device that provides precise alignment and controlled interaction with the payload box during air transfer.

[0090] The present invention provides a system with protective features such as V-shaped guards and prevents interference with drone propellers, thereby improving overall safety during aerial load transfer.

[0091] The present disclosure provides a system that incorporates a universal joint that provides both free and powered degrees of freedom for rotational motion. This adaptability enables the system to adapt to changing operational requirements, ensuring stability under varying conditions.

[0092] The present disclosure provides a system having a tension adjustment unit for controlled release of a flexible link, thereby allowing for dynamic adjustment of tension levels.

[0093] The incorporation of rollers on the sleeve enables smooth, assisted movement along the joint and flexible link. This feature minimizes friction and ensures a seamless transfer process between drones.

[0094] The present disclosure increases the operational range of drones and significantly extends their valuable uptime.

[0095] The present disclosure minimizes the need for frequent battery replacement, thereby reducing unnecessary trips to replace batteries. This allows specific tasks to be completed with a smaller inventory of circulating batteries.

[0096] The present invention provides a system that enhances the user experience by providing a reliable and user-friendly solution for aerial load transfer.

Claims

1. A system (100) for aerial transfer of a payload from one unmanned aerial vehicle (UAV) to another UAV, the system comprising: A pair of transfer container modules (102) (TCM), each of said TCMs (102) comprising: a plurality of containers (104), each of the containers (104) being configured to receive a load box for holding a load and having an open end for entry or exit of the load box; a plurality of slots (106) disposed on the TCM (102) along the length of each of the containers (104), wherein the plurality of slots (106) provide access to the payload box for coupling a transfer device to the payload box; a slide (108) configured to move along a transverse plane of the TCM (102), the slide (108) including an engagement device (110) configured to move with the slide (108) to align with one of the plurality of slots (106); and a flexible link (114) extending from a free end of the engagement device (110) to facilitate transfer of the payload box from one drone to another by sliding the sleeve (112) along the engagement device (110) and the flexible link with the coupled payload box; and A sleeve (112) is slidably disposed on the engagement means (110) and serves as the transfer means for coupling with a desired load box.

2. The system (100) of claim 1, wherein: The engagement means (110) includes a set of first fingers (116) configured to expand and fold, and the sleeve includes one or more flaps such that when the first fingers are expanded, the first fingers engage the one or more flaps to move the flaps to an expanded flap position, wherein the first fingers and flaps serve as means for coupling the sleeve (112) to the load box.

3. The system (100) of claim 1, wherein: The load box includes a female coupling protruding from a corresponding slot, and the sleeve includes a male coupling secured to one or more flaps of the sleeve such that when the flaps are moved from the unfolded flap position to the folded flap position, the male coupling engages the female coupling to couple the load box to the sleeve (112).

4. The system (100) of claim 1, wherein: One TCM (102) of the pair of TCMs (102) includes a tension adjustment unit (124) configured with the engagement device (110) to release the flexible link (114) and adjust tension in the flexible link after a link is established between one unmanned aerial vehicle (UAV) and the other UAV.

5. The system (100) of claim 1, wherein: The engagement device (110) of one TCM (102) of the pair of TCMs (102) includes a set of second fingers (118) configured to grasp the flexible link (114) released by the other TCM (102) of the pair of TCMs (102).

6. The system (100) of claim 1, wherein: The engaging device (110) comprises a plurality of concentric / parallel tubes, and wherein the flexible link (114) from the tension adjustment unit (124) to the free end of the engaging mechanism (110) is housed within the concentric / parallel tubes.

7. The system (100) of claim 1, comprising one or more gimbals (125, 126) for mechanically coupling one or more TCMs (102) of the pair of TCMs (102) to the respective drone, wherein: The universal joints (125, 126) provide free or powered rotational degrees of freedom for the respective TCM (102) about one or more axes of rotation.

8. The system (100) of claim 1, comprising a mass adjuster unit (134) configured to dynamically adjust the eccentricity of the center of mass during receipt or release of the payload cell.

9. A sleeve (112) for facilitating aerial transfer of a payload from one unmanned aerial vehicle (UAV) to another UAV, the sleeve (112) comprising: a hollow housing (132) slidably configured to engage an engagement device (110) coupled to a transfer container module (102) of the UAV; one or more flaps (130) pivotally secured to the housing (132) for movement between an expanded position and a folded position and biased to remain in a closed position; and a male coupling device (122) secured to the one or more tabs (130) of the sleeve (112); wherein when a set of first fingers (116) of the engagement device (110) moves to the deployed position, the set of first fingers (116) engages with the one or more flaps (130) to move the flaps (30) to the deployed flap position, and when the set of first fingers (116) moves back, the one or more flaps (130) move back to the folded flap position under the action of the biasing force, and Wherein, when the one or more wings (130) are moved to the folded wing position, the male end coupling device engages with the female end coupling device to couple the payload box to the sleeve (112), so that when the sleeve (112) moves along the coupling device (110) and the flexible link (114) coupled to the coupling device, the payload box is transported from the UAV to another UAV to which the other end of the flexible link (114) is coupled.

10. The sleeve (112) according to claim 9, wherein The sleeve (112) includes rollers (131) to enable the sleeve to move smoothly on the engagement device (110) and the flexible link (114).

11. The sleeve (112) according to claim 10, wherein The rollers (131) are powered to assist in moving the sleeve (112) with the coupled load box.

12. The sleeve (112) according to claim 9, wherein The housing (132) includes one or more windows through which the set of first fingers (116) of the engagement device (110) move to the deployed position to engage the one or more flaps (130).

13. An apparatus for establishing a link between a first unmanned aerial vehicle (UAV) and a second UAV for aerial transfer of a payload between the UAVs, the apparatus comprising: a transfer container module (TCM) (102) disposed on each of the first UAV and the second UAV, each of the TCMs (102) comprising an engagement device (110); a tension adjustment unit disposed in the TCM (102) of one of the first UAV and the second UAV, the tension adjustment unit being configured to release a flexible link (114) and adjust tension in the flexible link after a link is established between the first UAV and the second UAV, so that the flexible link (114) passes through the engagement device (110) of the corresponding TCM (102) and a free end of the flexible link (114) hangs outside the free end of the engagement device; and A set of second fingers (118) are provided at the free end of the engagement device (110) of the TCM (102) of the other of the first UAV and the second UAV, the set of second fingers (118) being configured to move between an open position and a closed position to grasp the flexible link.

14. The device according to claim 13, wherein The other of the first UAV and the second UAV includes a V-shaped guide (140) configured to guide the flexible link (114) toward the free end of the engagement device (110).

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