Gradual expansion of buoy and buoy network

Abstract

To provide a gradual expansion of a buoy and a buoy network.SOLUTION: A system and a method for a module method buoy expansion system includes a module placed to be assembled at a target place and air delivery equipment placed to deliver buoy modules (202, 204, 206, 220) to the target place. The module is connectable to at least another module and forms a buoy (101) when assembled. The module buoy expansion system further optionally includes a platform (104) placed to receive one or a plurality of pieces of air transmission equipment. Respective modules adapt to delivery standard of the air delivery equipment. The module buoy expansion system also includes an electric power system placed to recharge the air delivery equipment.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] (Reference to Related Applications) This application claims the priority and benefit of U.S. Provisional Patent Application No. 62 / 613,291, filed on January 3, 2018, entitled "Incremental Deployment of a Buoy and / or Buoy Network". The entire content of the above-referenced application is incorporated herein by reference.

Background Art

[0002] (Background) A buoy is a device configured to float within a body of water such as the ocean. The buoy can serve various purposes, including those that function as sea markers, life-saving buoys, underwater communication buoys, DAN buoys, navigation buoys, sonobuoys, surface marker buoys, decompression buoys, shot buoys, ocean weather buoys, tsunami buoys, wave buoys, etc. The buoy can be anchored (moored) or allowed to drift within the body of water. Various techniques for deploying buoys are known. However, there is a need for more efficient, timely, and low-cost buoy deployment.

Summary of the Invention

Means for Solving the Problems

[0003] Systems and methods for more efficiently deploying one or more buoys are disclosed herein. In one aspect, the buoy is arranged in a plurality of sections or modules that are connectable to one or more other modules of the buoy. The sections and / or modules can be configured and / or sized (and / or weighted) such that a delivery vehicle, such as an unmanned aerial vehicle (UAV), can transport each section to a destination location for assembly of the buoy at the destination location. Other types of delivery vehicles or delivery devices, such as ground-based vehicles (e.g., autonomous vehicles or robots) or sea-based vehicles (e.g., AUVs), can be used, without limitation. In an example of a water-based buoy, the delivery device can include multiple modes of movement including two or more combinations of features or propulsion systems that are movable on land, water, and in the air. In this way, the buoy can be deployed relatively long distances at high speeds across a body of water (or across a land area, or both) by delivering and assembling various sections, modules, and components at a desired location. The buoy can be assembled to include vehicle mooring, such as a platform, to enable a UAV, drone, or other aerial vehicle to land on the buoy. The buoy can include a generator and / or an energy store to power the functions of the buoy. The buoy can also include a power interface configured to provide power to a UAV, drone, aerial vehicle, or aqueous vehicle (e.g., a boat, underwater vehicle (e.g., AUV), unmanned surface vehicle (USV), etc.). Thus, in certain implementations, the network of buoys can propagate stepwise from one or more already deployed buoys. For example, once one buoy is deployed, assembled, and operating, one or more UAVs can then land on the buoy and be recharged (or refueled). Parts, modules, and / or sections for additional buoys can be stored by the first buoy.Therefore, the recharged UAV can deliver parts to a new location for the assembly of new buoys, etc., and this can continue, enabling the spread of buoys across an entire area or region of the ocean and / or on the ground.

[0004] In certain aspects, the assembly of the buoy is performed autonomously by one or more UAVs. In some implementations, one or more modules are configured to sense and / or detect the presence of another module and perform attachment and / or engagement to one or more other modules. In some implementations, an assembly robot, vehicle, or system is positioned at a designated location for the buoy and can assemble the buoy when the modules are delivered by one or more UAVs. This can advantageously reduce the power consumption of the assembly vehicle by eliminating or reducing the need for the assembly vehicle to carry buoy components.

[0005] In some implementations, the buoy includes a mooring system having a mooring line and a mooring element, weight, and / or anchor element. The mooring line can be delivered to the buoy in one or more sections. The mooring line can be configured to include one or more buoyancy elements. Each buoyancy element can be configured to have negative buoyancy at a specified depth within a body of water such as seawater or fresh water. In one implementation, the buoyancy element includes a bladder configured to collapse at a specific depth within seawater. When the bladder collapses, the density of the bladder increases, causing the bladder to have negative buoyancy and thereby sinking the bladder along with adjacent elements along the mooring line. By including a series of spaced-apart bladders along the mooring line, a relatively lightweight and buoyant mooring line can be staged at the sea surface adjacent to the buoy. One or more sections of the mooring line can be delivered to the buoy by a UAV. Other delivery devices can utilize an AUV, underwater drone, surface vehicle, USV, and / or surface drone, etc. When the mooring line is connected to the buoy and staged adjacent to the buoy, the mooring element (e.g., weight or anchor) can be attached to the free end of the mooring line. Once attached, the mooring element or weight (which is negatively buoyant) sinks and begins to pull the mooring line downward, thereby pulling adjacent bladders until the adjacent bladders collapse and become negatively buoyant, and subsequently further pulling the mooring line downward, for example, until the depth at which the next bladder collapses is reached, and the same continues until the mooring line and mooring weight sink to the seabed. Such a mooring system advantageously enables the delivery of a relatively lightweight mooring system to the buoy via one or more UAVs having a relatively limited lifting capacity, and also enables the continuous deployment of the mooring line and mooring weight or anchor to anchor the buoy in a specific location. In some examples, multiple trips can be performed to pre-stage one or more components of the buoy at the water surface before sinking the mooring weight and / or anchor.

[0006] On one side, a plurality of buoys are deployed stepwise or continuously, for example, by propagating the deployment and / or remote assembly of a second buoy from a first buoy and so on. The process can be continuously repeated until the buoy network is deployed over the desired geographical area. Once a buoy is deployed and / or assembled and becomes operational, it can serve as a departure point for deploying and assembling the next buoy at a further location. A buoy network is deployed with each buoy having a platform arranged to enable the landing of one or more UAVs and each buoy providing a power source for recharging or refueling the UAVs. The buoy network can be configured to provide a long-range delivery bridge, enabling UAVs to extend their range several-fold and allowing for the delivery of long-range items over vast geographical distances via a selected and perhaps less obstructive route. The UAVs can include drones and / or quadcopters. In certain implementations, the mooring and / or anchor chain is configured to have negative buoyancy below or on the sea surface or seabed but positive buoyancy on the sea surface and can be triggered to sink underwater with very small weights and / or additional weights.

[0007] On one side, a modular buoy deployment system includes a plurality of modules arranged to be assembled at a destination location, each of the plurality of modules being connectable to at least one other module of the plurality of modules. When the plurality of modules are assembled, they form a buoy. The system includes one or more assemblers arranged to position a portion of the plurality of modules at the destination location to form the assembled buoy. The system further includes delivery equipment arranged to deliver the plurality of buoy modules to the destination location, with the delivery of each of the plurality of modules conforming to the delivery criteria of the delivery equipment.

[0008] In some implementations, the buoy includes a platform configured to receive one or more delivery devices. The buoy may include a power system configured to recharge the delivery devices. The delivery devices may include at least one of an aerial delivery device, a marine delivery device, and a ground-based delivery device. The delivery devices may include at least one of a UAV, an AUV, and a USV. In some configurations, each of the plurality of modules is configured to detect at least one other module of the plurality of modules. Each of the plurality of modules may be configured to attach to at least one detected other module of the plurality of modules. In some implementations, the delivery device includes one or more assemblers configured to autonomously assemble the buoy. The assembler may include an assembly robot.

[0009] In another aspect, a modular unmanned aerial vehicle terminal includes a plurality of modules assembled at a destination location, each of the plurality of modules being connected to at least one other module of the plurality of modules. Each of the plurality of modules may be transportable by an unmanned aerial vehicle (UAV). The terminal includes a platform having one or more of the plurality of modules and configured to receive the UAV. The terminal also includes a power source having one or more of the plurality of modules and configured to charge the battery of the UAV.

[0010] In some implementations, each of the plurality of modules is configured to detect at least one other module of the plurality of modules, and each of the plurality of modules is configured to attach to at least one detected other module of the plurality of modules. The terminal may include an assembly system at the destination location configured to autonomously assemble the buoy. The assembly system may include an assembly robot. Each of the plurality of modules may be sized to enable a UAV to carry each module. The power source may include a generator and an energy storage. The power source may include a liquid, battery, or gas generator. The energy storage may include at least one of a battery, fuel cell, liquid or gas storage tank. The terminal and / or the buoy may include a fuel delivery interface for delivering fuel to a delivery device such as a UAV. The terminal may be at least one of water-based and ground-based.

[0011] In another aspect, a method for deploying a network of UAV terminals includes: a) assembling a first plurality of modules at a first location to form a first UAV terminal, the first UAV terminal including a platform arranged to receive one or more UAVs; b) deploying a first UAV from the platform of the first UAV terminal to a second location remote from the first location, the first UAV delivering one or more UAV terminal modules to the second location; and c) assembling a second plurality of modules at the second location to form a second UAV terminal, the second UAV terminal including a platform arranged to receive one or more UAVs. Steps a-c may be repeated until a network of UAV terminals is deployed across a geographic area, and the second UAV terminal from a previous sequence of steps a-c is designated as the first UAV terminal for a next sequence of steps a-c.

[0012] In yet another aspect, the mooring consisting of connected floats and weights has positive buoyancy at the sea surface and negative buoyancy at the sea floor, and can be triggered to sink by either adding a weight to one end or separating an end from a buoyant object. In one implementation, the mooring system includes a plurality of connected floats and weights that have positive buoyancy at the water surface and negative buoyancy at a certain depth below the water surface. The system includes a trigger mechanism arranged to reduce the buoyancy of a portion of the connected floats and weights from positive buoyancy to negative buoyancy so as to cause a portion of the connected floats and weights to sink below the water surface. The buoyancy of a portion of the connected floats and weights can be changed by either adding a weight to one end of the connected floats and weights or separating an end from a buoyancy element. Or the depth below the water surface can include the depth of the sea floor or around it, or some intermediate depth between the water surface and the bottom of the water (or sea). The trigger mechanism can include an assembler, an assembly system, and / or a robot configured to either add a weight to the end of the connected floats and weights or remove a buoyancy element from the end. In some implementations, a buoy with or without a buoy-specific propulsion system, USV, ASV (Autonomous Surface Vehicle), and / or AUV (i.e., a marine device) is deployed to a location on and / or below the surface of the ocean (or other water body) and uses a mooring system as described and / or embodied herein that deploys a mooring and / or an anchor to hold the device in a specific location. The marine device can include one or more of the components described with respect to FIG. 2, including a GPS, inertial, or other location system, to determine a location for deploying the mooring and / or anchor.

[0013] Other objects, features, and advantages of the present invention will become apparent by considering the following detailed description in conjunction with the accompanying drawings. For example, the present application provides the following items. (Item 1) A modular buoy deployment system, A plurality of modules arranged to be assembled at a destination location, each of the plurality of modules being connectable to at least one other module of the plurality of modules, the plurality of modules being assembled to form a buoy, and a plurality of modules; One or more assemblers arranged to position a part of the plurality of modules at the destination location to form an assembled buoy; Delivery equipment arranged to deliver the plurality of buoy modules to the destination location, the delivery of each of the plurality of modules conforming to the delivery criteria of the delivery equipment, and delivery equipment; A system comprising (Item 2) The system according to item 1, wherein the buoy includes a platform arranged to receive one or more delivery devices. (Item 3) The system according to item 1 or 2, wherein the buoy includes a power system arranged to recharge the delivery device. (Item 4) The system according to any one of items 1 to 3, wherein the delivery device includes at least one of an air delivery device, a sea delivery device, and a ground-based delivery device. (Item 5) The system according to item 4, wherein the delivery device includes at least one of a UAV, an AUV, and a USV. (Item 6) The system according to any one of items 1 to 5, wherein each of the plurality of modules is configured to detect at least one other module of the plurality of modules. (Item 7) The system according to item 6, wherein each of the plurality of modules is configured to attach to the at least one other detected module of the plurality of modules. (Item 8) The delivery device includes the one or more assemblers and is configured to autonomously assemble the buoy, the system according to any one of items 1 to 7. (Item 9) The assembly system includes an assembly robot, the system according to any one of items 1 to 8. (Item 10) A modular unmanned aerial vehicle terminal, the terminal A plurality of modules assembled at a destination location, each of the plurality of modules being connected to at least one other module of the plurality of modules, each of the plurality of modules being transportable by an unmanned aerial vehicle (UAV), a plurality of modules A platform including one or more of the plurality of modules and arranged to receive the UAV A power source including one or more of the plurality of modules and arranged to charge the battery of the UAV Comprising a terminal. (Item 11) Each of the plurality of modules is configured to detect at least one other module of the plurality of modules, the terminal according to item 10. (Item 12) Each of the plurality of modules is configured to attach to the detected at least one other module of the plurality of modules, the terminal according to item 11. (Item 13) The terminal according to any one of items 10 to 12, further comprising an assembly system at the destination location configured to autonomously assemble the buoy. (Item 14) The assembly system includes an assembly robot, the terminal according to item 13. (Item 15) Each of the plurality of modules is a terminal according to any one of items 10 to 14, sized to enable the UAV to carry each module. (Item 16) The power supply is a terminal according to any one of items 10 to 15, including a generator and an energy storage. (Item 17) The power supply is a terminal according to items 10 to 16, including a power interface configured to charge the battery of the UAV. (Item 18) The terminal is a terminal according to any one of items 10 to 17, which is at least one of a water-based and a ground-based. (Item 19) A method for deploying a network of UAV terminals, the method comprising: A. Assembling a first plurality of modules at a first location to form a first UAV terminal, the first UAV terminal including a platform arranged to receive one or more UAVs; B. Deploying a first UAV from the platform of the first UAV terminal to a second location remote from the first location, the first UAV delivering one or more UAV terminal modules to the second location; C. Assembling a second plurality of modules at the second location to form a second UAV terminal, the second UAV terminal including a platform arranged to receive one or more UAVs; Repeating steps A-C until a network of UAV terminals is deployed across a geographical area, wherein the second UAV terminal from the previous sequence of steps A-C is designated as the first UAV terminal for the next sequence of steps A-C; A method comprising the above. (Item 20) A mooring system, the system comprising: a plurality of connected floats and weights having positive buoyancy at the water surface and negative buoyancy at a certain depth below the water surface; a trigger mechanism arranged to reduce the buoyancy of a part of the connected floats and weights from positive buoyancy to negative buoyancy in order to sink a part of the connected floats and weights below the water surface, the trigger mechanism changing the buoyancy of the part of the connected floats and weights by either adding a weight to one end or separating the one end from a buoyancy element; a system comprising the same.

Brief Description of the Drawings

[0014] (Brief Description of the Drawings) The systems and methods described herein are set forth in the appended claims. However, for illustrative purposes, some illustrative aspects are set forth in the accompanying drawings.

[0015]

Figure 1

[0016]

Figure 2

[0017]

Figure 3

[0018]

Figure 4A

Figure 4B

Figure 4C

[0019]

Figure 5

[0020]

Figure 6

[0021] (Description) To provide a comprehensive understanding of the present invention, specific illustrative aspects are described herein. However, it will be understood by those skilled in the art that the systems and methods described herein may be adapted and modified for other suitable applications, and such other additions and modifications are not outside the scope of this specification.

[0022] The systems and methods are described herein with respect to buoys and / or buoy networks that can be deployed in stages.

[0023] FIG. 100 depicts an exemplary buoy 101 that includes a platform 104 that enables the landing of UAV 114. Buoy 101 can include a housing 102, a mooring line 108, and a docking element 106. When deployed, docking element 106 can rest on the sea floor 112. Buoy 101 can be positioned (i.e., floating) in a body of water 110, such as an ocean. Platform 104 can be configured to support one or more UAVs 114 and / or other aerial vehicles. As will be described later herein, buoy 101 can include a generator capable of recharging UAV 114 via an attachable / detachable electrical / mechanical connection or via inductive wireless (proximity) charging. UAV 114 can be a quadcopter. The size, flight range, and lift capacity of UAV 114 can vary. The size, flight range, and lift capacity can depend on the size of platform 104 and the power transmission capacity of buoy 101. In some implementations, buoy 101 may not be moored. In some implementations, buoy 101 can include a propulsion system. Buoy 101 and / or buoy housing 102 can be configured to be removably connectable with various buoy components to enable the delivery of sections, components, and / or modules to a destination location for the assembly and deployment of buoy 101. In this way, one or more UAVs 114 can be configured to deliver relatively lightweight sections (i.e., sections within the lift / flight range of UAV 114) for subsequent assembly at a destination. The delivery of each of the plurality of modules can conform to the delivery criteria of an aerial delivery device. For example, a particular module can be delivered in a predetermined sequence. For example, power generation module 206, docking element 202, assembler 220, and / or propulsion module 204 can be delivered first or early in the sequence so as to enable buoy 101 to maintain a more stable position before other modules are delivered and combined with modules that have already been delivered or are being assembled.In situations where an initial determination of environmental conditions has a higher priority, sensor module 210 and / or communication module 208 may be delivered first or early in the delivery sequence. Thus, delivery criteria, including the delivery and / or assembly sequence of the modules of buoy 101, may depend on environmental conditions, strategic conditions, power requirements, UVA payload carrying capacity, etc. The assembler may be removable and re-connectable to a delivery device such as a UAV. In some examples, the UAV may deploy the assembler at the destination location to enable assembly of the modules, leave the destination location to acquire additional modules, and then return with the additional modules. At some point after the assembly of the buoy is complete, the assembler may be re-connected to the delivery device. In this way, the same assembler may be used to assemble multiple buoys and / or terminals. Also, by removing the assembler during assembly, the delivery device may utilize less power while operating the delivery of other modules.

[0024] FIG. 2 is a block diagram 200 of exemplary functional elements 202-218 of buoy 101 for implementing at least a portion of the systems and methods described in this disclosure. Buoy 101 may include a mooring system 202 configured to enable mooring of the buoy to the seabed 112 via mooring line 108 and mooring element 106. Buoy 101 may include a propulsion element or system 204 configured to maneuver buoy 101. Propulsion system 204 may at least provide sufficient propulsion to counter ocean currents. Propulsion system 204 may operate in response to a processor, GPS, and / or inertial navigation system to maintain buoy 101 in a designated location. Buoy 101 may include a generator 206. Generator 206 may include, for example, solar panels, wind turbines, motion-based generators, energy storage (one or more batteries, one or more fuel cells, liquid fuel), chemical reactors, and / or nuclear reactors. The generator may include a charge and / or discharge controller (processor) to control energy storage and charging of, for example, a battery or to control discharge of a battery during charging of another device such as UAV 114.

[0025] The buoy 101 may include a communication system 208 to enable the buoy 101 to transmit and receive data to and from one or more other buoys, ships, vehicles, underwater vehicles, servers, satellites, and / or ground-based networks. An exemplary system 200 may include a processor, a memory, and an interconnecting bus. The processor may include a single microprocessor or multiple microprocessors for configuring a computer system as a multiprocessor system. The memory includes main memory and read-only memory as illustrated. The system 200 may also include a mass storage device having, for example, various disk drives, tape devices, etc. The main memory may also include dynamic random access memory (DRAM) and a high-speed cache memory. During operation and use, the main memory stores at least some of the instructions for execution by the processor when processing data (e.g., a regional model) stored in the main memory.

[0026] In some aspects, system 200 may also include one or more input / output interfaces for communication, shown as an interface for data communication via data communication system 208 by way of example. The data interface can be a modem, an Ethernet® card, or any other suitable data communication device. The data interface can provide a relatively high-speed link to a network such as an intranet, the Internet, or the Internet, either directly or through another external interface. The communication link to the network can be any suitable link, such as an optical link, an acoustic link, and / or a wireless link (e.g., via satellite, microwave, or 802.11 WiFi or cellular network). In some aspects, communication can occur over an acoustic modem. For example, in the case of communication with an AUV or other underwater vehicle, communication can occur over such a modem. Alternatively, system 200 can include a mainframe or other type of host computer system that enables web-based communication via a network. In some aspects, system 200 may also include a suitable input / output port via system 208, or use an interconnect bus for interconnection with a local display and user interface (e.g., keyboard, mouse, touch screen), or similar devices that serve as a local user interface for purposes of programming and / or data entry, search, or manipulation. Alternatively, a server operator can interact remotely with system 200 to control and / or program the system from a remote operation (not shown in the figure) via a network.

[0027] In some aspects, system 200 includes processors such as a steering controller, a sonar controller, a radar controller, a data collection controller, and / or a fire controller. Data corresponding to the sensors can be stored in memory or mass storage and retrieved by the processor. The processor can execute instructions stored in these memory devices to perform any of the methods described herein, such as data analysis, fire control, salinity analysis, wave monitoring, etc.

[0028] The system can include a display for presenting information, a memory (e.g., ROM, RAM, flash, etc.) for storing at least a portion of the data described above, and a mass storage device (e.g., solid state drive) for storing at least a portion of the data described above. Any set of the components described above can be coupled to a network via an input / output (I / O) interface. Each of the components described above can communicate via an interconnect bus.

[0029] System 200 may include one or more sensors 210 configured to perform any number of operations. For example, sensors 210 may include active and / or passive radars, active and / or passive sonars, optical sensors, wireless signal antennas and / or interceptors, chemical sensors (detecting the composition of water), environmental sensors, atmospheric sensors, inertial sensors, thermal sensors, behavioral sensors, radiation sensors, etc. System 200 may include a countermeasure system 212. Countermeasure system 212 may be configured to provide functions against personnel, ships, submarines, and airplanes. Countermeasure system 212 may include a processor (as discussed above) arranged to control firearms to protect buoy 101 from interference by divers or other people. System 212 may utilize one of more sensors to detect the presence of people within a range proximate to buoy 101 and, in response, activate firearms and / or a fire control system if necessary. System 212 may include a fire control function to deploy torpedoes or rockets against detected threats such as surface or underwater ships. System 212 may deploy rockets, lasers, or other projectiles against an aerial vehicle detected as a threat. System 212 may provide detection information to system 208 to enable buoy 101 to communicate warnings of detected threats as a possible early warning system. System 212 may include a minigun or a quadcopter with Claymore mines for disabling pirates. System 212 may include a vehicle mooring system to enable buoy 101 to moor to another vehicle such as a boat, ship, AUV, and / or UAV. For example, platform 104 is a kind of mooring feature by enabling a UAV to land on buoy 101. Platform 104 may include electrical / mechanical connections to hold the UAV in place after landing, which may be advantageous in rough seas. The UAV may exchange data with buoy 101 via a wireless data connection such as 802.11 or Bluetooth (registered trademark) when it is in proximity to buoy 101.The UAV may utilize other types of wireless communication and / or RF communication to communicate with the buoy 101.

[0030] System 200 may include payload storage 218. Payload storage 218 may store items such as modules for other buoys 101, items for delivery to other destinations, test equipment for deployment by the buoy, or spare parts (explosives). In some implementations, the buoy may function as an anti-ship mine or an anti-submarine mine, in which case payload storage 218 may store explosives. Buoy 101 may be configured to dive to a specified depth to perform certain tests or to function as an anti-ship or anti-submarine mine. Buoy 101 may be configured to surface in response to received commands or periodically.

[0031] In some implementations, system 200 includes assembler 220. Assembler 220 may be a distributed assembler that enables sections, modules, or components of system 200 (e.g., buoy 101) to self-assemble within buoy 101. For example, a first module may include a first assembler element that detects a second module that includes a second assembler element. The first and second assembler elements may each include a movable unit and an attachment unit to enable the first and second units to physically connect to each other. Assembler 220 may include a robot configured to connect various sections of buoy 101. In such a configuration, assembler 220 may include one or more robotic arms to enable assembler 220 to connect at least two modules together.

[0032] Figure 3 depicts a modular or sectional buoy 300 according to an aspect of the present disclosure. Each module can be delivered stepwise to a destination and then assembled. For example, a base element of the housing 102 (e.g., 102d in FIG. 3) can be first delivered by the first UAV 114. Then, a second portion of the housing 102 (e.g., 102c) can be delivered to the destination. In one configuration, the housing module 102d includes a sensor that detects the presence (proximity and / or contact) of the module 102c. The housing module 102d can include an assembler 220, which is connected to the housing module 102d and engages the module 102c with the module 102d. Subsequently, the module 102c can include an assembler 220 engagement mechanism that engages the module 102b with the module 102c when detected. The process continues until all modules and / or sections of the buoy 300 are assembled.

[0033] Alternatively, the assembler 220 can be included as part of an assembler vehicle. The assembler vehicle can be deployed to the destination location. When at that location, one or the UAVs 114 deliver the modules for the buoy 300. The assembler can include a platform or storage container to protect the modules during the assembly of the buoy 300. This approach can be advantageous in rough seas. When the assembly is complete, the assembler vehicle floods the buoy at the destination and then moves to the next destination location. Another advantage of this technique is that the assembler vehicle is power-saving (and can be deployed for a longer time) because the buoy components are required to be transported to the destination. In addition to the housing components, one or more UAVs can deliver the module 302 that includes the functional elements 202 - 220. The mooring line 108 can also be delivered within the sections 108a, 108b, and 108c and assembled by the assembler 220 and / or another UAV 114.

[0034] Figures 4A, 4B, and 4C depict a sequence related to deploying the mooring line 108 and the docking element 408. Figure 4A illustrates an initial deployment of the mooring line 108 including the buoyancy elements 402, 404, and 406. The buoyancy elements may include elements that are initially positively buoyant but become negatively buoyant under certain conditions. In Figure 4A, the buoyancy elements are positively buoyant, thereby floating on the surface of the body of water. The buoyancy elements 402, 404, and 406 may include bladders. In some examples, the UAV 114 may deliver one or more sections of the mooring line 108 to the buoy 101, and those sections may be connected at the surface by the assembler 220 and / or the UAV 114. In some implementations, the bladders are about 0.5 Kg, 1 Kg, 1.5 Kg, 2 Kg, 5 Kg, and 10 Kg or less.

[0035] Figure 4B illustrates how the submerging process 400 of the mooring line 108 is initiated by connecting the mooring element 106 and / or 408. The mooring element may include metal and / or a material having a density higher than that of the surrounding water. The mooring elements 106 and / or 408 may be less than about 0.5 Kg, 1 Kg, 1.5 Kg, 2 Kg, 5 Kg, 10 Kg, 50 Kg, 100 Kg, and 1000 Kg. For example, after the mooring line 108 is assembled at the water surface, a 1 Kg mooring element 408 may be attached to the free end of the mooring line adjacent to the buoyancy element 406. As shown in Figure 4B, the weight of the mooring element 408 pulls the mooring line 108 downward toward the seabed. This action sinks the buoyancy element 406 downward, increasing the ambient pressure on the buoyancy element 406, thereby collapsing the bladder and increasing its density to a state of negative buoyancy. This creates a chain reaction of negative buoyancy such that each buoyancy element along the mooring line 108 is pulled downward to become negatively buoyant. Figure 4C illustrates the position 406 of the mooring element 408 and the mooring line 108 that results after all of the buoyancy elements 402, 404, 406, 410, and 412 have become negatively buoyant and sunk. Thus, the initially buoyant and relatively lightweight mooring line 108 during delivery via one or more UAVs 114 is deployed to be submersible and configured to function as a mooring system for the buoy.

[0036] FIG. 5 depicts FIG. 500 showing the deployment of the buoy 101 as viewed from the side of the present disclosure. FIG. 5 illustrates the deployment of a network of buoys 504 - 520 from a vessel 502. However, the deployment can be initiated from the ground, a vessel, an aircraft, a submarine, and / or a combination of sources. Arrows 524 - 546 illustrate possible deployment flight paths of the UAV 114 to destinations where the buoys 504 - 520 can be located. However, the illustrated paths can be traversed by the UAV 114 in either direction. FIG. 5 also illustrates how a buoy can propagate from a source 502 to a first buoy 504 and then propagate in multiple directions including up to buoy 520 and the same can continue (deployed step by step). Such propagation can enable the deployment of a minefield in a geographical area, the deployment of an underwater acoustic sensor array, the deployment of an air defense (radar) array, the deployment of a delivery bridge for items from one location to another, the deployment of a cellular phone network across a body of water (where each buoy includes a base station transceiver), etc. Such a propagation process can be implemented in other environments such as in space and / or on the surface of other planets having a fluid region that is not water, such as methane lakes on Titan, for deploying a terminal network, etc.

[0037] In some implementations, the network of buoys 504-520 functions as a payload transport bridge, for example, from the vessel 502 to the buoy 520. Each buoy can be configured to support the landing and / or housing of two or more UAVs 114. Thus, a first UAV 114 can deliver a payload (e.g., a module, package, or other item) from the vessel 502 to the buoy 504. The payload can be transferred from the first UAV 114 to a second UAV 114 parked on the platform 104, where the second UAV 114 is fully charged by the buoy 504. The first UAV 114 can link to the power source of the buoy 504 to recharge or refuel in anticipation of later use. Then, the second UAV 114 can transport the payload from the buoy 504 to the buoy 506. Then, the payload can be transferred to a third UAV 114 that is charged or refueled at the buoy 506. Then, while the third UAV can transport the payload to the buoy 512, the second UAV 114 is recharged or refueled at the buoy 506. Such a process continues until the payload is delivered to the buoy 520 or another destination. Thus, by supporting two or more UAVs 114 together, the buoy network can provide a relay system for the UAVs 114 to more efficiently deliver a payload to any geographical location within the network (whether at a buoy or another location within the scope of the buoy network). In some implementations, a UAV (or other delivery device) can recharge and / or refuel at a buoy without transferring its payload to another UAB. This can advantageously simplify the process of delivering an item along the network from a source to a destination location.

[0038] Figure 6 is an exemplary process 600 for efficiently deploying the buoy 300. The process 600 begins by delivering a base module to the destination location (step 602). For example, a base element of the housing 102 (e.g., 102d of FIG. 3) can be first delivered by the first UAV 114.

[0039] Process 600 continues by delivering the secondary module to the destination location (step 604). For example, the second portion (e.g., 102c) of the housing 102 can be delivered to the destination.

[0040] Process 600 continues by assembling the buoy 300 (step 606). For example, the housing module 102d can include a sensor that detects the presence (proximity and / or contact) of the module 102c. The housing module 102d can include an assembler 220 that is connected to the housing module 102d, and the assembler 220 engages the module 102c with the module 102d. Subsequently, the module 102c can include an assembler 220 engagement mechanism that engages the module 102b with the module 102c when detected.

[0041] Process 600 continues by determining whether an additional secondary module is ready to be delivered (step 608). For example, the third portion (e.g., 102b in FIG. 3) and the fourth portion (e.g., 102a in FIG. 3) may be ready to be delivered to the destination location. If waiting for an additional secondary module to be delivered, process 600 continues at step 604. Otherwise, the buoy 300 is fully assembled and process 600 ends (step 610).

[0042] The examples in this specification describe systems and methods related to buoys and buoy networks, while the techniques described herein may equally be applied to terrestrial or space-based transportation networks, which include terrestrial UAV terminal networks operating with or without a buoy network. For example, a terrestrial-based UAV terminal network may be deployed between Anchorage, Alaska and Eagle, Alaska (a remote town). The network of UAV terminals may minimize the risk of manned flight and enable the efficient delivery of payloads (e.g., U.S. mail) to and from Eagle, Alaska. In another example, a buoy network may enable the delivery and return of payloads between Fort Randall, Alaska and Attu, Alaska on Attu Island in the Bering Sea.

[0043] It will be apparent to those skilled in the art that the methods related to the systems and methods of the present invention may be embodied in a computer program product that includes a non-transitory computer-usable and / or readable medium. For example, such a computer-usable medium may consist of a CD ROM disk, a conventional ROM device, or a read-only memory device such as random access memory, a hard drive device or a computer diskette, flash memory, a DVD, or any similar digital memory medium, in which a computer-readable program code may be stored.

[0044] Optionally, the system may include an inertial navigation system, a Doppler sensor, an altimeter, a gimbaling system for securing sensors to an assembly of hologram maps, a global positioning system (GPS), a long baseline (LBL) navigation system, an ultra-short baseline (USBL) navigation, or any other suitable operating system.

[0045] Such aspects are provided by way of example only and will be apparent to those skilled in the art. It should be understood that numerous modifications, alternatives, variations and substitutions may be employed by those skilled in the art related to the present invention.

[0046] Accordingly, the present invention is not limited to the aspects disclosed herein and should be understood from the following claims, which should be construed as broadly as possible under the law.

Claims

1. A method for deploying a network of unmanned aerial vehicle (UAV) terminals, the method comprising: A. forming a first UAV terminal by assembling a first plurality of UAV terminal modules at a first location, the first UAV terminal including a platform disposed to receive one or more UAVs; B. Deploying a first UAV from the platform of the first UAV terminal to a second location remote from the first location, the first UAV delivering a second plurality of UAV terminal modules to the second location; C. forming a second UAV terminal by assembling a second plurality of UAV terminal modules at the second location, the second UAV terminal including a platform disposed to receive one or more UAVs; repeating steps A-C until a network of UAV terminals is deployed across a geographic region, wherein the second UAV terminal from a previous sequence of steps A-C is designated as the first UAV terminal for a next sequence of steps A-C; A method comprising:

2. The method of claim 1, wherein each of the first plurality of UAV terminal modules and the second plurality of UAV terminal modules is configured to detect at least one other of the plurality of UAV terminal modules.

3. The method described in claim 2, wherein each of the first plurality of UAV terminal modules and the second plurality of UAV terminal modules is configured to attach to at least one other module of the detected plurality of UAV terminal modules.

4. The method of claim 1, further comprising autonomously assembling the first plurality of UAV terminal modules and the second plurality of UAV terminal modules.

5. The method of claim 1, wherein assembly is performed by an assembly robot.

6. The method of claim 1, wherein each of the second plurality of UAV terminal modules is sized to enable the first UAV to carry each UAV terminal module.

7. The method of claim 1, wherein at least one of the first UAV terminal and the second UAV terminal includes a power source having a generator and an energy store.

8. The method of claim 7, wherein the power source includes a power interface configured to charge a battery of the first UAV.

9. The method of claim 1, wherein at least one of the first UAV terminal and the second UAV terminal is one of water-based and land-based.

10. The method of claim 1, wherein the network of UAV terminals is deployed across the geographical area in a mesh pattern.

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