System and method for moving a payload

Abstract

To provide transportation equipment, in particular means and methods for moving a payload, specifically, systems and methods for moving a payload. [Solution] A system and method are provided for moving a payload based on the use of aircraft equipment configured to dock with each other in order to enable the mutual exchange of docking guides and payloads.

Description

Technical Field

[0001] The present invention relates to a transportation device, in particular, a means and method for moving a payload, specifically, a system and method for moving a payload.

Background Art

[0002] To date, various air transportation systems and methods for moving a payload based on the use of such air transportation systems have been developed. The operation of such air transportation systems is highly automated, and the speed of transporting or moving the payload to the destination point using such air transportation systems is acceptable. However, the current air transportation systems and current methods for moving a payload based on the use of air transportation systems still have a major drawback that the moving range of the payload is insufficient.

[0003] Therefore, there is a need to develop a method and system for moving a payload.

[0004] In particular, various air transportation systems and methods for moving a payload based on the use of an unmanned aircraft device, each including a housing of various designs and having one or more aviation propulsion units that enable movement and aviation of the aircraft device in the airspace, have become popular.

[0005] For example, Korean Patent Publication No. 10-2254921, issued pursuant to Korean Application No. 20190173104 (published May 24, 2021), provides a system for moving a payload in the form of a power battery, the system comprising: (i) two or more aircraft devices, each provided with one or more air propulsion units, capable of moving through the air; and (ii) one or more control devices configured to control the operation of the aircraft devices, wherein at least one first aircraft device of the aircraft devices is provided with a payload and one or more docking guides; at least one second aircraft device of the aircraft devices is provided with one or more docking guides, at least one of the docking guides is configured to detachably dock to at least one of the guides of the at least one first aircraft device for detachable docking in the air between the at least one first aircraft device and the at least one second aircraft device, thereby enabling the movement of the payload along the docked docking guide onto the at least one second aircraft device. Furthermore, Korean Patent Publication No. 10-2254921 discloses a method for moving a payload in the form of a mobile power battery, and this method is based on the use of a payload moving system according to Korean Patent Publication No. 10-2254921.

[0006] Furthermore, in the system and method for moving a payload in the form of a power battery disclosed in Korean Patent No. 10-2254921, the guides of the aircraft devices are detachably coupled to each other from the first aircraft device to the second aircraft device of the payload in the transport means. As a result of moving the payload, the total weight of the second aircraft device increases, accelerating the depletion of the battery charge of the second aircraft device, and thereby reducing the range of movement of the payload using the second aircraft device.

[0007] Thus, both the prior art system for moving a payload disclosed in Korean Patent Publication No. 10-2254921 and the prior art method for moving a payload using the aforementioned system for moving a payload disclosed in Korean Patent Publication No. 10-2254921 have the aforementioned drawback of having an insufficient range of motion for the payload.

[0008] Thus, further improvements to conventional systems and / or methods for moving payloads are clearly needed, particularly to expand the range of payload movement.

[0009] Therefore, the technical problem solved by the present invention is to create a system and method for moving a payload, each of which at least partially improves upon the aforementioned drawback of prior art systems and methods for moving payloads, namely, insufficient payload movement range. [Prior art documents] [Patent Documents]

[0010] [Patent Document 1] Korean Patent Publication No. 10-2254921 [Overview of the Initiative]

[0011] The object of the present invention is to create a system and method for moving a payload, to solve at least the aforementioned technical problems of the prior art, and to expand the range of technical means for moving a payload.

[0012] The immediate problem is solved by the fact that, in a first embodiment of the present invention, the subject system comprises: (i) two or more aircraft devices that are able to move through the air and each having one or more air propulsion units; and (ii) one or more control devices configured to control the operation of the aircraft devices, wherein at least one of the aircraft devices is a first aircraft device on which a payload is installed, and at least one of the aircraft devices is a second aircraft device on which one or more docking guides are detachably installed, wherein the docking guides are configured to enable detachable in-air docking of the at least one first aircraft device and the at least one second aircraft device in order to move the payload along the at least one docking guide to the at least one second aircraft device, and then to move at least one of the docking guides to the at least one first aircraft device.

[0013] Furthermore, the immediate problem is solved by the fact that, in a second embodiment of the present invention, a method for moving a payload comprises the following steps: (i) docking in mid-air, under the control of a control device, at least one first aircraft device on which a payload is installed and at least one second aircraft device on which one or more docking guides are installed, using at least one of the docking guides; and (ii) enabling the movement of the payload along the at least one docking guide to the at least one second aircraft device, and further enabling the at least one docking guide to be transferred to the at least one first aircraft device when the payload is placed on the at least one second aircraft device.

[0014] The system for moving a payload according to the first aspect of the present invention and the method for moving a payload according to the second aspect of the present invention each result in a reduction in the weight of the aircraft equipment used to move the payload, particularly by the movement of the docking guide of the second aircraft equipment to the first aircraft equipment.

[0015] The technical advantages of the claimed set of technical solutions are not limited to those described above. Further advantages of the claimed set of technical solutions and of the individual technical solutions within the set, including their specific embodiments, will become apparent to those skilled in the art from the following detailed description of the invention and the accompanying drawings.

[0016] Furthermore, the first and second embodiments of the present invention, as described above, yield additional technical results, respectively, of improved mass and size characteristics of aircraft equipment used to move payloads.

[0017] Furthermore, the first and second embodiments of the present invention each yield yet another additional technical result: a further reduction in battery charging for aircraft equipment used to move the payload.

[0018] Furthermore, the first and second embodiments of the present invention each yield yet another additional technical result: an expansion of the range of technical means for moving payloads in the air.

[0019] The accompanying drawings, included to provide a further understanding of the principles of the present invention, constitute part of this specification and are incorporated herein to illustrate the following embodiments and aspects of the invention. The accompanying drawings, together with the following description, are helpful in illustrating the principles of the present invention. [Brief explanation of the drawing]

[0020] [Figure 1.1]This is a schematic diagram of one exemplary embodiment of a first system for moving a payload according to a first aspect of the present invention, in a first (initial) state in which an aircraft device having a docking guide and an aircraft device having a payload are located at a distance from each other in a predetermined region of space. [Figure 1.2] This is a schematic diagram of the first system for moving a payload according to the present invention, in a second state where the first system transitions from a first state as shown in Figure 1.1, and the aircraft equipment is detachably docked to each other by docking guides. [Figure 1.3] This is a schematic diagram of the first system for moving a payload according to the present invention, in which the first system transitions from a second state as shown in Figure 1.2, and the payload is placed on a docking guide that detachably docks aircraft equipment to each other in a third state. [Figure 1.4] This first system is a schematic diagram of a payload moving system according to the present invention, which transitions from a third state as shown in Figure 1.3, and in a fourth state in which the aircraft equipment has exchanged the payload and the docking guide with each other. [Figure 2.1] This is a schematic diagram of one exemplary embodiment of a second system for moving a payload according to the present invention, in which a cluster aircraft device having a docking guide and an aircraft device having a payload are located at a distance from each other in a predetermined region of space. [Figure 2.2] This is a schematic diagram of a second system for moving a payload according to the present invention, in which the cluster aircraft equipment is detachably coupled to the aircraft equipment having the payload by docking guides extending from the cluster aircraft. [Figure 2.3] This is a schematic diagram of a second system for moving a payload according to the present invention, in which the payload is mounted on a docking guide that detachably docks aircraft equipment to each other. [Figure 2.4]Schematic diagram of a second system for moving a payload according to the present invention, where the payload is placed on a cluster aircraft device and the docking guide is placed on another aircraft device detachably coupled to the cluster aircraft device by the docking guide as shown in Fig. 2.3. [Figure 3] It is a block diagram of one exemplary embodiment of a method for moving a payload according to the present invention.

Mode for Carrying Out the Invention

[0021] Hereinafter, various exemplary embodiments of the present invention will be described with reference to the accompanying drawings, but it should be understood that the following description does not define or limit the scope of the present invention.

[0022] In the following description, detailed descriptions of known functions and designs are omitted because this important information may obscure the concept of the present invention.

[0023] In the following description, it should be understood that terms such as "first", "second", "upper", "lower", "lateral", "front", "rear", etc. are used for convenience only and should not be construed as limiting terms. In particular, when used in the present invention, unless explicitly stated otherwise in the description of this specification, the terms "first", "second", "third", etc. are used to distinguish the elements, components, parts, assemblies, modules, blocks, embodiments, etc. to which they relate from each other, and do not mean to describe a specific relationship between them.

[0024] References to items in the singular form are to be understood to include such items in the plural form as well, unless explicitly stated otherwise or unless it is clear from the context of this specification, and vice versa.

[0025] Grammatical conjunctions, unless otherwise specified or made clear from the context, are intended to express any and all disjunctive and conjunctive combinations of clauses, sentences, words, etc. Therefore, the term "or" should generally be understood to mean "and / or," etc.

[0026] The enumeration of value ranges in this specification is not intended to be limiting, and unless otherwise indicated herein, all arbitrary values ​​falling within a range are referred to individually, and each distinct value within such a range is incorporated into the description as if it were individually enumerated herein.

[0027] Words such as "about" and "approximately," when accompanied by numerical values, should be interpreted as including any deviations that would be understood by a person skilled in the art to work well for the intended purpose. The ranges of values ​​and / or numerical values ​​are provided herein as examples only and do not constitute a limitation on the scope of the described embodiments.

[0028] Any and all examples provided herein, or at least some of them, and corresponding phrases (such as “for example,” “such,” “especially,” etc.) are used solely to facilitate understanding of the principles of the present invention and to provide a full disclosure of the present invention. However, these phrases do not impose limitations on the embodiments of the present invention, and for the purpose of describing the embodiments, they are used herein and, in particular, to disclose the design and operating principles of the present invention, and do not limit the practical implementations of the elements, components, parts, assemblies, modules, blocks, devices, means and / or similar.

[0029] Terms and definitions used in this specification The term “exemplary” means an unrestricted example, example, or illustration. Similarly, as used herein, the terms “for example” and “as an example” separate a list of one or more unrestricted examples, examples, or illustrations.

[0030] As used in this invention, the term “correspond” and its derivatives (i.e., adjectives, verbs, adverbs) do not necessarily imply exact conformity or exact equivalence in any respect to or between any of them, but may imply a deviation or deviation from such equivalence within specified limits. For example, the term “corresponding coordinates” means not only that these coordinates may be exactly equal to or exactly coincide with each other, unless otherwise expressly provided herein, but also that the above equivalence or correspondence of coordinates may be established with some error (e.g., error in the operation of a GPS system) or within the boundaries of a given geographic area surrounding the exact geographic point or area to which these coordinates belong, or the exact geographic location to which these coordinates belong.

[0031] As used in this invention, the term “unmanned aircraft apparatus” (UAA) means, unless otherwise expressly defined herein, an unmanned aircraft means of transport that is configured to fly, or in automatic mode, i.e., capable of moving through the air without human or external control source, or in semi-automatic mode, i.e., capable of moving through the air by receiving at least some control commands from a human (e.g., pilot, operator, etc.) or an external source (e.g., control panel, control server, external control device, etc.) via a predetermined communication link. Endless examples of UAAs include various multi-rotor UAAs, e.g., multi-copter drones, single-rotor UAAs, e.g., unmanned helicopters, hybrid UAAs, e.g., rotary-wing drones and similar.

[0032] In the context of the present invention, the term “housing” means a physical or inanimate frame, skeleton, shell, panel material, body, load-bearing structure or housing, unless otherwise expressly defined herein, each of which may be formed from a single load-bearing element or a combination of load-bearing elements coupled together, wherein the type, shape, overall dimensions, design features and / or materials of such housing are not specifically limited.

[0033] In the context of the present invention, the term “payload” means, unless otherwise expressly defined herein, a person or living being (in particular, a person or living being themselves, or a person or living being placed in a capsule, cabin, containment module, refrigeration module, rescue module, living compartment, living block, etc.) or cargo that may be contained in / on a housing of a means of transport that functions as a carrier and is intended for the aerial delivery, shipment, transport, or movement of persons, various living beings, and / or various cargo (the cargo itself, or cargo placed in a crate, box, package, bag, container, reservoir, vessel, tank, canister, receptacle, barrel, storage tank, cylinder, vessel, reservoir, pack, bottle, flask, glass container, cylinder, case, storage module, etc.).

[0034] As used in this invention, the term “module” means a functional element of a device, or a combination of functional elements, in the form of a component, node, block, or other assembly unit that performs a certain technical function, unless otherwise expressly defined herein. A module may generally be implemented using a combination of known structural elements, a combination of known structural elements and known hardware, a combination of known structural elements and known software and hardware, or a combination of known hardware and known software. Accordingly, for example, a control module may be implemented using hardware and software. As used in this invention, an integrated control module may be a physical device, apparatus, or multiple modules implemented using hardware, for example, an application-specific integrated circuit (ASIC) or a field-programmable gate array (FPGA), or a combination of hardware and software, for example, a microprocessor system and a set of instructions that implement the functionality of a control unit that (when executed) converts the microprocessor system into an application-specific device or system (e.g., an autopilot). Furthermore, each or at least one of the modules described herein may be implemented in the form of a combination of hardware and software, where some of the functionality described herein with respect to one of the modules may be implemented by hardware alone, while other functionality described herein with respect to the same module or other modules may be implemented by using hardware in combination with software.Furthermore, in the context of the present invention, the docking module may be configured to interact detachably with at least one unmanned aerial vehicle device, where the docking module may be implemented using a combination of known structural elements, a combination of known structural elements and hardware, a combination of structural elements, software and hardware, or a combination of hardware and software.

[0035] As used in this invention, the term “navigation command” refers to an instruction directed to an aircraft device that is part of a system for moving a payload, unless otherwise expressly defined herein. Navigation commands may be presented or provided by the aircraft device’s movement control system in the form of digital or analog data, instructions, control signals, etc. Navigation commands may be initially generated by an automated operator, an operator (whether located locally or remotely), and / or an obstacle avoidance system, without limitation. In the case of an aircraft device, navigation commands may be communicated, for example, to a control unit for controlling the aircraft device or to the aircraft device’s steering system.

[0036] As used in this invention, the term “manual control” refers to control using not only human hands but also human feet, fingers, voice, pupils, or any suitable combination thereof, unless otherwise expressly defined in this specification. Accordingly, as used in this invention, the term “manual control” refers to at least one of the following: buttons, levers, joysticks, toggle switches, pedals, touchscreens, gesture control sensors, pupil tracking scanners, microphones, and / or similar devices.

[0037] As used in the present invention, the term “charging device” means a device that extends the range of an aircraft by charging its rechargeable batteries and / or by replenishing its fuel capacity, unless otherwise expressly defined in this specification.

[0038] As used in this invention, the term “database” means any structured data set that is independent of any specific structure, database management software, or computer hardware that stores, uses, or otherwise makes available the data, unless otherwise expressly defined herein. The database may reside on the same hardware that performs the processes of storing or using the information stored in the database, or it may reside on different hardware, such as a dedicated server or multiple servers.

[0039] As used in this invention, the term “control device” refers to a computing device that runs a computer program to enable the reception of requests (e.g., from other computing devices) over a communication network, the execution or processing of such requests, and / or the transmission of such requests over a communication network (e.g., to other computing devices). The computing device that runs the computer program may, without limitation, be a single physical computer or a single physical computer system. As used in this invention, the use of the term “control device” does not mean that the tasks of each computer (e.g., received instructions or commands) or any other designated task are received, executed, or performed by the same control device (i.e., by the same software and / or hardware), but rather that any number of pieces of software or hardware may be involved in receiving / transmitting, executing, or performing any task or request, or resulting in any task or request, and all such software and hardware may be implemented in the form of one or more control devices.

[0040] As used in this invention, the term “server” refers to a computing device that runs a computer program to enable the receiving of requests (e.g., from other computing devices) on a communication network, the execution or processing of such requests, and / or the transmission of such requests (e.g., to other computing devices) on a communication network. The computing device that runs the computer program may, without limitation, be a single physical computer or a single physical computer system. As used in this invention, the use of the term “server” does not mean that the tasks of each computer (e.g., received instructions or commands) or any other designated task are received, executed or performed by the same server (i.e., the same software and / or hardware), but rather that any number of pieces of software or hardware may be involved in receiving / transmitting, executing, or performing any task or request, or resulting in any task or request, and all of that software and hardware may be implemented in the form of one or more servers.

[0041] The first system for moving the payload Figures 1.1 to 1.4 are schematic diagrams of one exemplary embodiment of a first system 1000 for moving a payload according to a first aspect of the present invention, the system comprising two aircraft devices 100, 200, each device comprising a framework or housing 10 with two winged air propulsion units 20 mounted outside the housing 10, enabling the aircraft devices to fly or move through the air or along a predetermined trajectory within the airspace to a predetermined (target) destination point, and also including following a flight program as described below.

[0042] In some embodiments, the system 1000 may include one or more aircraft devices 100 and one or more aircraft devices 200. In other embodiments of the present invention, the system 1000 may include, for example, two, three, four, five, six, seven, eight, nine, ten, eleven, or twelve or more aircraft devices, at least one of which is configured in the form of an aircraft device 100 as described herein, and at least one other aircraft device of the aircraft devices of the system 1000 may be configured in the form of an aircraft device 200 as described herein.

[0043] Each aircraft device 100, 200, which is part of system 1000, may be configured in any suitable form of unmanned aerial vehicle (UAA) known in the prior art.

[0044] In other embodiments of the present invention, at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may include one or more air propulsion units 20 that operate under the control of a control module described below which is part of the aircraft device, enabling the aircraft device to fly or move through the air or in the airspace along a predetermined trajectory to a predetermined (target) destination point.

[0045] The housing 10 in at least one or each of the aircraft devices 100, 200 that are part of System 1000 may have any suitable shape and overall dimensions specific to any aircraft device known in the prior art, and may be made of any suitable material known in the prior art and commonly used in the manufacture of housings for aircraft devices, in particular cluster material (e.g., cluster sandwich panels), metal (e.g., metal channel beams joined together), aluminum (e.g., aluminum transport beams joined together), plastic (e.g., solid plastic pieces), titanium material (e.g., titanium sandwich panels), any other suitable material known in the prior art (e.g., sandwich panels with aluminum honeycomb cores or titanium panels) and / or similar, including the use of cluster material (e.g., cluster sandwich panels), metal (e.g., metal channel beams joined together), aluminum (e.g., aluminum transport beams joined together), plastic (e.g., solid plastic pieces), titanium material (e.g., titanium sandwich panels), any suitable combination of the above materials. Therefore, the type, shape, overall dimensions and material of the housing 10 in each of the aircraft devices 100, 200 that are part of System 1000 are not specifically limited within the scope of the present invention. In particular, the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000 may have a shape that is entirely the same as that of a helicopter or drone housing, but a person skilled in the art will understand that the housing 10 may have any other shape that resembles any other aircraft device or air transport vehicle, such as an airplane, shuttle, hang glider, paraglider, or any other similar aircraft device known in the prior art.

[0046] In one embodiment of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may be composed of the form of a regular or irregular three-dimensional geometric figure, for example, a cube, a cuboid, a ball or sphere, a pyramidal pyramid, a tetrahedron (triangular pyramid), a hexagonal pyramid, a triangular prism, a hexahedron (octahedron), a pentagonal prism, a hexagonal prism, a dodecahedron, an ellipsoid, a polyhedron (icosahedron) with 20 faces, a cone, a cylinder, or any other known three-dimensional figure.

[0047] In another embodiment of the present invention, at least a portion of the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may have a cross-sectional (longitudinal or transverse) shape of a triangle, square, circle, ellipse, rectangle, parallelogram, rhombus, trapezoid, quadrilateral, pentagon, hexagon, heptagon, octagon, nonagon, decagon, 20-sided, or any other known regular or irregular geometric shape.

[0048] In yet another embodiment of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may be a bearing frame having a skeleton, framework, or paneling attached thereto, or at least partially surrounded by a shell.

[0049] In another embodiment of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 further comprises fins, wings and / or tail rotors, etc., which can improve the aerodynamic characteristics of the aircraft device and improve its payload by generating additional lift during flight.

[0050] In some other embodiments of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may further comprise at least one aircraft device engine (not shown), preferably two aircraft device engines, to enable the aircraft device to move through the air in an emergency (e.g., in the event of failure or malfunction of at least one or each of the air propulsion units 20), or to increase the aerial speed of the aircraft device by enabling the operation of an aircraft device engine in addition to, or in place of, the propulsion units 20 used to move the aircraft device in the air under standard conditions. Each such aircraft device engine may be, for example, a propeller engine, a jet engine, a combination of aircraft device engines, or any other suitable aircraft device engine known from the prior art. It should also be noted that when two aircraft device engines are used in at least one or each of the aircraft devices 100, 200, their designs and / or types may be the same as or different from each other. Each of the aircraft equipment engines further provided in the housing 10 in at least one or each of the aircraft equipment 100, 200 may operate under the control of a control module of the aircraft equipment, which may present control commands to the control driver of the aircraft equipment engine of the aircraft equipment to enable starting, stopping, or changing the operating mode of the aircraft equipment engine (for example, changing the operating parameters of the aircraft equipment engine of the aircraft equipment).

[0051] In some other embodiments of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000 may further comprise at least one additional lift rotor (not shown) or rotor propulsion unit of any suitable type known in the prior art to enable the aircraft device to move through the air (including in emergencies, e.g., in the event of damage, failure and / or complete discharge of the aircraft device) or to increase the aerial speed of the aircraft device by enabling the operation of a lift rotor or rotor propulsion unit in addition to, or instead of, a propulsion unit 20 used to move the aircraft device in the air under standard conditions. Furthermore, in this embodiment of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000 may further comprise a power unit (not shown) defined, for example, by one or two turboshaft engines and operably coupled to each of the lift rotors of the aircraft device to supply power to the rotors in order to operate them. At least one or each of the power units of the aircraft equipment 100, 200 is operably coupled to a lift rotor of the aircraft equipment, which may be further provided in the housing to transmit driving force to the housing 10, but may also operate under the control of a control module of the aircraft equipment, which may present control commands to a control driver of the aircraft equipment's power unit (not shown) to enable starting, stopping, or changing the operating mode of the power unit (e.g., changing the operating parameters of the aircraft equipment's power unit) in order to change the state of the aircraft equipment's lift rotor.

[0052] In other embodiments of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000 may be a system of expandable supports that may be provided in the housing 10 or at least one rigidly fixed support, and may further include landing gear (not shown) which may be necessary for at least the takeoff of the aircraft device, the landing of the aircraft device and / or the accommodation of the aircraft device in one of the parking areas to supplement the range. In particular, the landing gear in at least one or each of the aircraft devices 100, 200 may be skid type, wheel type, track type, float type or any other type known in the prior art, and the type, shape, overall dimensions and materials of the landing gear in this aircraft device are not particularly limited in any respect within the scope of the present invention. In this embodiment of the present invention, the landing gear in at least one or each of the aircraft devices 100, 200 may at least (i) bear the static load from its own weight while the aircraft device is parked, and (ii) depending on a particular embodiment of the present invention, absorb the impact of the dynamic load that occurs when the aircraft device lands on the ground, water surface, or surface of another object that is at least partially present in the airspace, ground, water space and / or underwater space (including emergency landing).

[0053] In some other embodiments of the present invention, the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000 does not need to be equipped with any type of landing gear. In one variation of such embodiments of the present invention, the bottom of the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000 may be provided with an impact-absorbing pad (not shown) made of an elastic material (e.g., rubber), which may be attached to the bottom from the outside, or any other suitable support used in the prior art for aircraft devices known and known in the prior art (in particular for drones or other unmanned aerial vehicles).

[0054] Furthermore, each housing 10 of the aircraft devices 100 and 200, which are part of the system 1000, is provided with or installed a communication module (not shown) and a control module (not shown) which is operably coupled to both winged air propulsion units 20 to control their operation and is operably coupled to the communication module to communicate with the communication module. In particular, the control module in each of the aircraft devices 100 and 200 may be configured to switch on (start or operate) at least one or each of the air propulsion units 20, or to switch off (deactivate) at least one or each of the air propulsion units 20. Furthermore, the control module in each of the aircraft devices 100 and 200 may be configured to change the rotational speed of at least one or each of the wing blades of the air propulsion units 20, and / or to change the rotational direction of at least one or each of the wing blades of the air propulsion units 20.

[0055] Furthermore, in the respective housings 10 of the aircraft equipment 100 and 200, which are part of system 1000, power supplies (not shown) connected to both air propulsion units 20, a control module, and a communication module via power supply circuits (not shown) are housed or installed, enabling power supply to them, or enabling power supply under the control of the control module.

[0056] In Figure 1.1, the first system 1000 for moving a payload according to a first aspect of the present invention is in a first (initial or original) state in which aircraft devices 100 and 200 are in the air in a predetermined spatial region at a predetermined distance from each other, and the aircraft devices 100 and 200 may be in the spatial region while executing individual flight programs received by the aircraft devices via a communication network, for example from one of the same control devices of system 1000, or from each of the control devices of system 1000.

[0057] As shown in Figure 1.1, the aircraft device 100 includes a docking guide 300 that is detachably installed in or on the housing 10 of the aircraft device 100 (particularly inside or on the housing 10), or that is detachably coupled to the housing 10 so as to move relative to the housing 10, enabling the aircraft device 100 to enter into a detachable interaction with the aircraft device 200 in order to perform a detachable docking of the aircraft devices 100, 200 with each other, and enabling the aircraft device 200 to disengage from the interaction with the aircraft device 200 in order to transfer the docking guide 300 to the aircraft device 200, or to detachably place the docking guide 300 on the aircraft device 200 (particularly inside or on the housing 10). Furthermore, as shown in Figure 1.1, the aircraft device 200 then includes a payload 400 detachably coupled to the housing 10 so as to be detachably mounted on or moved relative to the housing 10, and the docking guide 300 detachably couples the aircraft devices 100 and 200 with respect to each other in order to move the payload 400 along the docking guide 300 toward the aircraft device 100, thereby enabling the detachable placement or installation of the payload 400 on the docking guide 300, and allowing the payload 400 to be detachably mounted on or moved relative to the aircraft device 100, or to be detachably mounted on the aircraft device 100 so as to be at least partially inside the housing 10.

[0058] In some embodiments of the present invention, the aircraft device 200 may include two or more payloads 400 that are detachably mounted on the aircraft device 200 so as to move relative to its housing 10.

[0059] In other embodiments of the present invention, the aircraft device 100 may comprise two or more guides 300 that are detachably mounted on the aircraft device 100 or detachably coupled to the housing 10 so as to move relative to the housing 10. In one variation of such embodiments of the present invention, one or more of the docking guides 300 that may be provided on the aircraft device 100 may be engaged simultaneously or sequentially or used to perform detachable docking of the aircraft device 100 to the aircraft device 200, where the payload 400 may be mounted or positioned so as to move only on at least one of the engaged docking guides 300. In one such variation of this type of embodiment of the present invention, at least one or each of the docking guides 300 used to accommodate the payload 400 on the docking guides may be transferred to the aircraft device 200 so as to dock the aircraft devices 100, 200 together, and at least one or each of the docking guides 300 used to dock the aircraft devices 100, 200 together may be returned to their original (initial) state in which the docking guides were present on the aircraft device 100, in particular to their original position inside or on the housing of the aircraft device 100. In another variation of this type of such embodiment of the present invention, all docking guides 300 used to dock the aircraft devices 100, 200 together, including each docking guide 300 used to accommodate the payload 400 while docking the aircraft devices 100, 200 together, may be transferred to the aircraft device 200 so as to be detachably mounted or installed on or at least partially inside the housing 10.

[0060] In another embodiment of the present invention, the aircraft device 100 may include two or more docking guides 300 that are detachably mounted on the aircraft device 100 or detachably coupled to each housing 10 so as to move relative to the housing 10, wherein at least two of the docking guides 300 may be arranged parallel to each other, perpendicular to each other, or at a predetermined angle to each other.

[0061] In some other embodiments of the present invention, the aircraft device 100 may include two or more docking guides 300 that are detachably mounted on the aircraft device 100 or detachably coupled to the housing 10 so as to move relative to the housing 10, where at least one of the docking guides 300 may be mounted on a rotating device (not shown) which may be provided on the aircraft device 100 and which may operate under the control of a control module of the aircraft device 100 so that the at least one docking guide 300 can be rotated by a predetermined angle after being partially extended from the housing 10 in a direction away from the aircraft device 100. In these embodiments of the present invention, the housing 10 of the aircraft device 100 must be configured to allow at least one rotation of the docking guides 300 that are partially extended from the housing 10 by a predetermined angle set using the rotating device of the aircraft device 100 under the control of a control module of the aircraft device 100.

[0062] In some other embodiments of the present invention, the aircraft device 100 may include two or more docking guides 300 that are detachably mounted on the aircraft device 100 or detachably coupled to the housing 10 so as to move relative to the housing 10, where at least one of the docking guides 300 may be rotatably mounted on the housing 10, and the housing 10 may further include a drive device (not shown) that operates under the control of a control module of the aircraft device 100 and is operably coupled to or interacts with the at least one docking guide 300 so that the docking guide can rotate by a predetermined angle after being partially extended from the housing 10 in a direction away from the aircraft device 100. In these embodiments of the present invention as well, the housing 10 of the aircraft device 100 must be configured so that at least one of the docking guides 300 that are partially extended from the housing 10 can rotate by a predetermined angle set using a rotation device of the aircraft device 100, under the control of a control module of the aircraft device 100.

[0063] In some other embodiments of the present invention, the aircraft device 100 may include one or more docking guides 300 that are detachably mounted on the aircraft device 100 or detachably coupled to the housing 10 so as to move relative to the housing 10, where at least one or each of the docking guides 300 may be configured to be retractable, and the housing 10 of the aircraft device 100 may further include a drive device (not shown) that operates under the control of a control module of the aircraft device 100 and is operably coupled to the docking guides 300 or configured to interact with the docking guides 300 to allow at least partial or complete extension of the docking guides from the housing 10. In such embodiments of the present invention, the control module of the aircraft device 100 is further configured to present control commands to a driver of the drive device to allow the extended docking guides to be at least partially retracted into the housing 10.

[0064] According to one embodiment of the present invention, the housing 10 of the aircraft device 100 may be configured to tilt or rotate at a predetermined angle with respect to at least one of the docking guides 300 which may be provided on the housing 10.

[0065] According to another embodiment of the present invention, while the aircraft device 100 is docked to the aircraft device 200 by at least one of the docking guides 300 which may be provided on the housing 10, the housing 10 of the aircraft device 100 may be configured to change the shape and / or dimensions of the housing under the control of the control module of the aircraft device 100, thus allowing the housing 10 to be adapted to the shape and / or overall dimensions of a payload 400 which may then be transferred to the aircraft device 100 and housed in the housing 10.

[0066] According to yet another embodiment of the present invention, at least one of the docking guides 300 that may be provided on the housing 10 of the aircraft device 100 may be bendable or at least partially configured to be flexible.

[0067] According to one other embodiment of the present invention, at least one of the docking guides 300 that may be provided on the housing 10 of the aircraft device 100 may be configured to be straight or curved.

[0068] According to some embodiments of the present invention, at least one of the docking guides 300 that may be provided on the housing 10 in the aircraft device 100 may be configured to allow the payload 400 to move along the docking guide along at least one of the three coordinate axes, or it may be configured to move relative to the housing 10 so as to allow the payload 400, which is placed on or set up on the at least one docking guide 300, to move relative to the housing 10.

[0069] According to some other embodiments of the present invention, at least one of the docking guides 300 which may be provided in the housing 10 of the aircraft device 100 may comprise two or more parts, at least one of which is configured to be movable, wherein the housing may further comprise a drive device (not shown) operably coupled to the at least one movable part of the docking guide 300 to allow movement relative to the rest of the docking guide 300 in order to change the shape of the at least one docking guide 300, and which operates under the control of a control module of the aircraft device 100.

[0070] Thus, the housing 10 of each aircraft device 100, 200, which is part of the system 1000, is substantially configured to accommodate a docking guide 300 or a payload 400, where the housings 10 of these aircraft devices 100, 200 are substantially configured to be structurally identical, in particular the housings having corresponding shapes and sizes to each other, and each also includes technical means that allow the docking guide 300 or payload 400 to be placed in the respective housing, and that allow the movement of the docking guide 300 or payload 400 relative to the housing under the control of the aircraft device's control module.

[0071] In various embodiments of the present invention, the payload 400 may be detachably mounted on the aircraft device 100 instead of the aircraft device 200, and the docking guide 300 may be detachably mounted on the aircraft device 200 instead of the aircraft device 100.

[0072] In other embodiments of the present invention, the payload 400 may be detachably mounted on at least one first aircraft device of the aircraft devices that are part of the system 1000, and the docking guide 300 may be detachably mounted on at least one second aircraft device of the aircraft devices that are part of the system 1000, and the at least one first aircraft device of the system 1000 and the at least one second aircraft device of the system 1000 may be configured, for example, in the form of aircraft device 200 and aircraft device 100, respectively.

[0073] Furthermore, the system 1000 shown in Figures 1.1 to 1.4 also includes one or more control devices, each configured to establish a wireless connection or wireless communication link via a communication network (not shown) to at least one of the aircraft equipment 100, 200, enabling remote control of its operation or function by presenting control commands and / or navigation commands to the at least one aircraft equipment, wherein the communication network may or may not be part of the system 1000.

[0074] A communication network of system 1000, in which one or more control devices and aircraft equipment 100, 200 of system 100 are at least communicatively coupled, substantially enables the control devices and aircraft equipment 100, 200 of system 1000 to exchange system data and / or operational data with each other, which are used to implement the functions or functional capabilities described herein. Such a communication network may be any suitable wireless communication link known in the prior art, such as a WiFi wireless technology-based communication link, a 2G, 3G, 4G, or 5G wireless technology-based communication link, an LTE technology-based communication link, and / or similar.

[0075] In one embodiment of the present invention, System 1000 may comprise two or more wireless networks, each configured similarly to the above-described communication network of System 1000, for real-time mode or real-time execution of communication between devices of any other function described herein.

[0076] Furthermore, a communication module (not shown) installed in the housing 10 of each aircraft device 100, 200, which is part of system 1000, is configured to receive external control commands and / or navigation commands from at least one of the control devices of system 1000. These commands are transmitted via a communication network and, via a communication bus, are made available to the control module, which is part of the aircraft device, thereby substantially enabling remote control of at least one or each of the aircraft devices 100, 200 using the at least one control device of system 1000. In particular, at least one or each control module of an aircraft device 100, 200 which is part of system 1000 receives a predetermined flight program from one of the control devices of system 1000 via a communication module of the aircraft device and is transmitted to the aircraft device via a communication network by the control device of system 1000, enabling the aircraft device to move in the air or airspace according to the flight program, where the flight program may include, for example, the flight of aircraft device 100 from a predetermined air area to a predetermined (target) destination point, and during the flight, one or more operations of in-air detachable docking of aircraft device 100 to aircraft device 200 may be performed, and between each operation, operations of mutual exchange of guides and payloads may be performed between these docked aircraft devices 100 and 200.

[0077] At least one or each of the aircraft devices 100, 200 which are part of system 1000 may be equipped with at least one of the following wireless communication means, namely SW band radio antennas, USW radio antennas, UHF radio antennas, optical communication modules, half-duplex / simplex satellite communication modules, 2G / 3G / 4G / LTE / 5G cellular communication modules, wireless communication modules, wired communication modules and the like, so that the aircraft devices can receive navigation commands and / or control commands from one or more control devices of system 1000, so that these control devices of system 1000 can remotely control the operation of the aircraft devices.

[0078] At least one or each of the control devices of system 1000 is configured to receive and process data (including system requests) from at least one or each of the aircraft equipment 100, 200 which are part of system 1000, and is configured to generate control commands and / or navigation commands based on the received data and the processing results thereof, and to enable the presentation or instruction of the thus generated control commands and / or navigation commands to at least one or each of the aircraft equipment 100, 200 via a communication network (not shown).

[0079] The control modules in each aircraft device 100, 200 which are part of System 1000 are then configured to process navigation commands and / or control commands received by a communication module from one or more control devices of System 1000, and are further configured to control the operation of the aircraft device in response to the navigation commands and / or control commands. In particular, in response to navigation commands and / or control commands from one or more control devices of System 1000, the control module of aircraft device 100 or aircraft device 200 may enable, for example, the performance of at least one of the following operations: (i) changing the flight speed of the aircraft device, (ii) changing the flight direction of the aircraft device, (iii) orienting the aircraft device from a parking area (not shown) or a current area of ​​airspace through the air to a target area of ​​airspace where it is intended to dock the directed aircraft device with at least one other aircraft device of System 1000, (iv) detachably docking the aircraft device with at least one other aircraft device of System 1000, (v) moving the aircraft device to System 10 (vi) undocking from at least one other aircraft device of system 1000 to (vi) orienting the aircraft device through the air to one of the aprons (not shown) to enable storage of the aircraft device in the aprons and / or to accommodate it in or on the aprons to enable replenishment (charging) of the aircraft device's range; (vii) transferring the docking guide 300 or payload 400 from the aircraft device to another aircraft device of system 1000 to which the aircraft device is detachably docked; (viii) receiving or accommodating the docking guide 300 or payload 400 on the aircraft device from another aircraft device of system 1000 to which the aircraft device is detachably docked; and so on.

[0080] In some embodiments of the present invention, the control device (not shown) may not be part of the system 1000.

[0081] In some other embodiments of the present invention, the communication protocols and / or technical means used for communication between one or more control devices of system 1000 and aircraft devices 100, 200 which are part of system 1000 may be at least partially different from each other and / or at least partially the same from each other. Furthermore, one or more communication protocols and, accordingly, one or more technical communication means may be used simultaneously for communication between the aircraft devices 100, 200 and / or with the control devices of system 1000.

[0082] In certain embodiments of the present invention, at least one or each of the control devices of the system 1000 may be configured to ensure the safety of the aircraft devices 100, 200 during flight or movement in the air, including two or more docked aircraft devices 100, two or more docked aircraft devices 200, and cluster aircraft devices formed from two or more docked aircraft devices 100, 200, respectively.

[0083] Furthermore, at least one or each of the control devices of system 1000 may be configured in the form of a control server or control center. In particular, system 1000 may include one control device configured to present control commands and / or navigation commands to at least one or each of the control modules of aircraft equipment 100, 200 which are part of system 1000, where the control device of system 1000 may be a single server, which may be configured in the form of a Dell® PowerEdge® server which may use, for example, the Ubuntu® Server operating system or the Windows® Server operating system. In addition, the control device of system 1000 may have or acquire access to at least one external (remote) database (not shown) via a communication network (not shown), or may include at least one local database stored in a storage device (not shown) which is part of such a control device or in the memory (not shown) of the control device.

[0084] In some embodiments of the present invention, the control device of system 1000 may be any other suitable hardware, application software, system software, or any combination thereof.

[0085] In another embodiment of the present invention, the functions of the control device of system 1000 may be shared among multiple computer devices or computing devices, and may be implemented, for example, using multiple servers connected to each other via a communication network to exchange data among them.

[0086] In other embodiments of the present invention, the functions of the control device of system 1000 may be performed by one control module of an aircraft device 100, 200 which is part of system 1000; by a predetermined group or combination of control modules of aircraft devices 100, 200 which are part of system 1000; by a control unit of payload 400; or by any other suitable computing device which is part of system 1000 and is configured to generate control commands and / or navigation commands and to present the generated commands to at least one or each of the control modules of aircraft devices 100, 200 which are part of system 1000.

[0087] As shown in Figures 1.1 to 1.4, the payload 400, which is part of system 1000, has a framework or housing 410 configured in the form of a cabin, which is configured to accommodate passengers (e.g., one or more people and / or a pilot), various living organisms and / or various types of cargo. The payload 400 may also be used to deliver, transport, or move people, various living organisms and organisms, vehicles, equipment, pharmaceuticals and / or various types of cargo (solid, gaseous, liquid, fluid, bulk, viscous, radioactive, chemical cargo and / or similar) in the air, and therefore the payload may be called a transport module or transport module.

[0088] In one embodiment of the present invention, the payload 400 may be provided with a pilot's seat, which may accommodate a pilot (not shown) capable of controlling the means of transport in a manner that allows the payload 400 to be mounted, using an instrument panel and control elements which may be disposed in the housing 410. Furthermore, in this embodiment of the present invention, in addition to the pilot, the internal space of the housing 410 may further accommodate at least one passenger, at least one piece of luggage belonging to the passenger and / or at least one piece of cargo belonging to the passenger, where the pilot, passenger, cargo belonging to the passenger and the piece of luggage belonging to the passenger may be housed in their respective locations in a common internal space, or in separate areas or compartments which are at least partially defined by one or more partitions.

[0089] In another embodiment of the present invention, the pilot's seat may be located in a pilot cabin provided within the internal space of the housing 410 and separated from the rest of the internal space of the housing 410 by a partition, the rest of which may then be divided by another partition into a passenger compartment in which one or more passenger seats may be installed for accommodating a passenger, and a luggage compartment or cargo compartment in which cargo (in particular one or more cargo items) and / or passenger luggage (in particular one or more passenger luggage items) may be accommodated, where the cargo items, passenger luggage items and / or passenger seats may be located or mounted in the bottom, floor, or walls of the housing 410. In one variation of this embodiment of the present invention, the passenger compartment may, in place of or in addition to passenger seats, provide (i) rails installed on the side walls, floor and / or ceiling of the housing 410 for accommodating passengers sitting or standing at any position in the housing 410, for example, on the floor of the housing 410; (ii) benches, beds or benches fixed to the floor, walls and / or ceiling of the housing 410 for accommodating passengers in sitting, standing and / or reclining positions; (iii) specialized areas for accommodating disabled persons in sitting, standing and / or reclining positions; (iv) specialized areas for wheelchairs used by disabled persons; (v) specialized areas for accommodating infant foldable beds used by infants; and (if necessary) specialized areas for companions; and / or (vi) specialized areas for accommodating wheeled stretchers for transporting patients, used by bedridden patients. Furthermore, the number of passengers in the passenger compartment may be anywhere from one to several dozen or even several hundred, without any restrictions, and the number of passengers is substantially limited only by the area of ​​the passenger compartment within the internal space of the housing 410.In another variation of this embodiment of the present invention, the cargo compartment of the housing 410 may not only accommodate cargo and / or passenger luggage on the floor, but also allow for their attachment to the cargo compartment of the housing 410 using conventional fastening means known in the prior art, where the cargo compartment of the housing 410 may further be provided with shelves, hangers, crates and other carrying means attached to the floor, ceiling and / or side walls of the housing 410, and additional cargo items and / or passenger luggage items can be accommodated in the cargo compartment of the housing 410. In another variation of this embodiment of the present invention, an area for passenger luggage, including shelves, hangers, boxes and other carrying means for accommodating passenger luggage items, may be provided only in the passenger compartment of the housing 410, in addition to the above-described variations of means for accommodating passengers in the passenger compartment. Those skilled in the art will readily understand that cargo items and / or passenger baggage items may also be secured or fastened at least partially from the outside of the payload housing 410 using suitable fastening means known in the prior art (e.g., using specialized enclosing mounting equipment used in airplanes, automobiles, motorcycles, helicopters, bicycles and the like). The pilot cabin, passenger compartment and cargo compartment in the housing 410 may be configured similarly overall to the respective compartments of airplanes, helicopters, buses, automobiles, ships, motorboats and the like.

[0090] In yet another embodiment of the present invention, the pilot's seat may be located in a pilot cabin within the interior space of the housing 410, separated by a partition from the rest of the interior space of the housing 410, in which passengers (e.g., in the passenger seats), cargo items and passenger luggage items may be accommodated or secured in the bottom, ceiling and / or floor of the housing 410. Furthermore, embodiments of the present invention are possible in which only the pilot and passengers are accommodated in the interior space of the housing 410, embodiments of the present invention are possible in which only the pilot and cargo are accommodated in the interior space of the housing 410, embodiments of the present invention are possible in which only passengers are accommodated in the interior space of the housing 410, embodiments of the present invention are possible in which only the pilot in the pilot's seat is accommodated in the interior space of the housing 410, and embodiments of the present invention are possible in which only cargo is accommodated in the interior space of the housing 410.

[0091] In some embodiments of the present invention, control elements of the payload 400, which may be located in the internal space of the housing 410 and defined from the inside by the walls of the housing 410, substantially enable control of the payload 200 in semi-automatic mode (i.e., a combination of manual control by a pilot and automatic control using an autopilot), and enable manual input of at least one control command by a pilot who is located in the pilot's seat and monitoring instrument readings on the instrument panel. The control elements of the housing 410 must be communicatively coupled to a control unit (not shown), which may be part of the payload 400, so as to enable each of the above control commands of the pilot to be presented to the control unit of the payload 400, where some of the above control commands of the pilot may substantially override each control command of the control unit of the payload 400, which is generated by the control unit of the payload 400, while controlling a transport means based on one or more docked payloads 400 in automatic mode (i.e., autopilot mode). In one embodiment of the present invention, pilot participation is not required in the process of controlling the transport based on one or more docked payloads 400, and therefore the instrument panel, control elements and pilot seat do not have to be located in the internal space of the housing 410, and control of such transport may be substantially entirely performed in automatic mode (i.e., autopilot mode) by using a control module of the payload 400 described below, which may then receive control commands from one or more control devices of the system 1000 comprising the payload 400. In another embodiment of the present invention, the control elements and / or instrument panel in the housing 410 may be provided in a control unit of the payload 400, and therefore the control unit can simultaneously enable manual control of the transport based on one or more docked payloads 400 by a pilot and by automatic control of such transport in autopilot mode.

[0092] Furthermore, as shown in Figures 1.1 to 1.4, the housing 410 is configured to allow the movement of the payload 400 relative to the housing 10 of either the housing 10 of the aircraft equipment 100, 200 which are part of the system 1000, and includes a docking module 420 configured to allow the movement of the payload 400 along the docking guide 300 when the docking guide 300 is used to detachably dock the aircraft equipment 100, 200 with each other.

[0093] Furthermore, the payload 400, which is detachably docked by the docking module 420 to the housing 10 of either the aircraft equipment 100 or 200 which is part of the system 1000, may be entirely located outside the housing 10, or it may be partially located inside the housing 10.

[0094] In one embodiment of the present invention, the payload 400 may comprise one or more docking modules (e.g., 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more docking modules) each configured in the form of a docking module 420, the docking modules may be installed on the same side of the housing 410 or on different sides of the housing 410 (e.g., opposing or adjacent sides of the housing 410). In one modification of this embodiment of the present invention, at least one of the docking modules 420 that may be provided in the housing 410 may be installed inside the housing 410 or partially embedded in the housing 410. In another modification of this embodiment of the present invention, at least one first docking module of the docking modules 420 that may be provided in the housing 410 may be installed inside the housing 410, and at least one second docking module of the docking modules 420 may be installed outside the housing 410.

[0095] In various embodiments of the present invention, the docking module 420 of the payload 400 shown in Figures 1.1 to 1.4 may be configured in the form of one of the following connection / fastening means, or any suitable combination thereof: (i) mechanical connection or fastening elements (e.g., cams, brackets, grips, fasteners, mounting grooves, hooks or small hooks, latches, clips, annular parts, clamps, etc.) for docking to each mating mechanical element (i.e., mating portion); (ii) electromechanical grips under the control of the control unit of the payload 400 for gripping the mating grippable elements (i.e., mating portions); (iii) electromagnetic grips under the control of the control unit of the payload 400 for gripping the mating grippable elements (i.e., mating portions); (iv) vacuum grips under the control of the control unit of the payload 400 for gripping the mating grippable elements (i.e., mating portions); and the like. In such embodiments of the present invention, the mating portion into which the docking module 420 may engage in a detachable interaction may be located on or on the housing 10 in at least one or each of the aircraft devices 100, 200 that are part of the system 1000, and / or on the docking guide 300. In one variation of such embodiments of the present invention, the mating portion into which the docking module 420 may engage in a detachable interaction may be located on each movable element or mechanism (e.g., a carriage) that may be movably installed in at least one or each of the aircraft devices 100, 200 that are part of the system 1000, and / or on the docking guide 300.

[0096] In other embodiments of the present invention, the docking module 420 may be a fixed connection / fastening means (including a fixed connection / fastening mechanism or fixed connection / fastening structure) configured to engage in detachable interaction with each mating portion, the fixed fastening means may be rigidly or detachably fixed to the housing 410 on the outside of the housing, or may be partially embedded in or incorporated into the housing 410 to allow access to the fixed fastening means from the outside of the housing 410. In such embodiments of the present invention, the mating portions with which the docking module 420, configured in the form of the fixed fastening means, may be configured in a fixed state and may be installed in or on the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000, and / or on the docking guide 300. In one such embodiment of the present invention, the mating portion into which the docking module 420, configured in the form of fixed fastening means, may enter into a detachable interaction may be mounted on each movable element or mechanism (e.g., a carriage) which may be movably mounted on at least one or each of the aircraft equipment 100, 200 that are part of the system 1000, and / or on the docking guide 300.

[0097] In other embodiments of the present invention, the docking module 420 may be a movable connection / fastening means (including a movable connection / fastening mechanism or movable connection / fastening structure) which may or may not be operated under the control of a control unit of the payload 400 (e.g., a controlled carriage), the fastening means may be configured to engage in a detachable interaction with each mating portion, wherein the movable fastening means may be fixed rigidly or detachably on the housing 410 outside the housing, or may be partially embedded / integrated into the housing 410 to allow access to the movable fastening means from outside the housing 410. In such embodiments of the present invention, the mating portion with which the docking module 420, which is made in the form of a movable fastening means, may detachably interact must be configured to be fixed, but may be installed on or on the housing 10 in at least one or each of the aircraft devices 100, 200 which are part of the system 1000, and / or on the docking guide 300.

[0098] Furthermore, as shown in Figures 1.1 to 1.4, the housing 10 of each aircraft device 100, 200, which is part of the system 1000, includes a box-section functional beam 30 having a longitudinal mounting channel that is at least partially installed in the internal space of the housing 10 and configured to receive at least one guide 300 from at least one or each of its two opposing ends. In other words, the mounting channel provided in the body of the functional beam 30 in each aircraft device 100, 200, which is part of the system 1000, begins from a mounting hole that provides communication with the external environment of the mounting channel from one or both of the two opposing ends of the mounting channel, thus allowing one or more guides 300 to be inserted into the mounting channel of the functional beam 30, and as a result the guides 300 are located entirely inside the functional beam 30, or at least one of these guides is located mostly inside the functional beam 30 and the rest extends beyond the boundary of the functional beam. Alternatively, at least one or each of the functional beams 30 provided in the housings 10 of the aircraft devices 100, 200 which are part of the system 1000 may be fixed or installed on the outside of each housing 10.

[0099] Furthermore, as shown in Figures 1.1 to 1.4, the functional beams 30 provided in the housings 10 of the aircraft equipment 100, 200 which are part of the system 1000 are each configured or arranged / installed to allow the payloads 400 to enter into interaction with the functional beams 30 from the outside of the functional beams using their respective docking modules 420, and to allow such payloads 400 to move along the length of the functional beams 30.

[0100] In particular, a docking module 420, which is part of the payload 400, may include a controlled carriage (not shown) or a functional mechanism that performs the functions of such a carriage, where the carriage may be used to detachably mount the payload 400 to one of the functional beams 30 provided in the housing 10 of the aircraft equipment 100, 200, which is part of the system 1000, allowing the carriage to move longitudinally along the functional beam 30 from the outside of the functional beam, and as a result, allowing the payload 400 itself to move relative to the housing 10 in which the functional beam 30 is provided, and especially relative to the functional beam 30. Such a controlled carriage (not shown), which may be provided in the docking module 420 of the payload 400, may also be used to detachably mount the payload 400 to any docking guide 300, which is part of the system 1000, allowing the carriage to move longitudinally along the docking guide 300, and as a result, allowing the payload 400 to move relative to the docking guide 300. Thus, such a controlled carriage (not shown) which may be provided on the docking module 420 of the payload 400 substantially enables the movement of the payload along any of the functional beams 30 provided on the housing 10 of the aircraft equipment 100, 200 which are part of the system 1000, and enables the movement of the payload along any of the docking guides 300 which are part of the system 1000 during this stage in which the system 1000 is in one of the states described herein, depending on the stage of operation or function of the system 1000.Furthermore, such a controlled carriage (not shown) may be operated, for example, under the control of a control unit of the payload 400, or controlled by one control module each of the aircraft devices 100, 200 on which the payload 400 is detachably installed. The control unit of the payload 400 or the control module of the aircraft device may be configured to enable changes in the operating mode of the controlled carriage, in particular by (i) setting the operation (motion) of the controlled carriage to enable movement along a moving surface over a predetermined distance, (ii) stopping the movement or displacement of the controlled carriage to place it at a predetermined (target) position on the moving surface, (iii) changing the speed of movement of the controlled carriage along the moving surface, (iv) changing the direction of movement of the controlled carriage along the moving surface, and similarly by presenting control commands to the controlled carriage. In particular, such a controlled carriage, which may be provided with a docking module 420 on the payload 400, comprises a drive unit configured to enable the controlled carriage to move along a moving surface, and a driver for controlling the drive unit configured to receive control commands from a control unit of the payload 400 or from a control module of an aircraft device on which the payload 400 is detachably installed, enabling the execution of control commands to change the operating mode of the controlled carriage.

[0101] In one embodiment of the present invention, a controlled carriage (not shown) provided on the docking module 420 in the payload 400 may be configured with wheels (i.e., may have a wheel-to-wheel distance) so that the outer surface of each functional beam 30 provided on the housing 10 of the aircraft equipment 100, 200 which are part of the system 1000 substantially functions as a guide for the controlled carriage and enables linear movement of the controlled carriage along such guides under the control of the control module of the aircraft equipment on which the functional beam 30 is installed.

[0102] In another embodiment of the present invention, the outer surface of each functional beam 30 provided in the housing 10 of aircraft equipment 100, 200 which are part of system 1000 may be provided with one or more parallel guide rails (e.g., one, two, three or more guide rails) extending along the functional beam substantially along its entire length, thereby serving as a guide for a controlled carriage (not shown) provided on a docking module 420 in a payload 400 installed on the functional beam 30, wherein the guide is configured to allow linear movement of the controlled carriage along the guide under the control of a control module of the aircraft equipment on which the functional beam 30 is installed.

[0103] As shown in Figure 1.1 illustrating a first (original or initial) state of system 1000, the docking guide 300 is fully mounted or installed on a mounting channel of a functional beam 30 provided in the housing 10 of the aircraft device 100, so as to move longitudinally within the aircraft device under the control of the aircraft device 100's control module, (i) allowing at least partial protrusion or extension of the functional beam 30 beyond the mounting channel to enable detachable docking of the aircraft device 100 to the aircraft device 200 by the docking guide 300, or (ii) allowing full protrusion or extension of the functional beam 30 from the mounting channel, thereby releasing the docking guide 300 from interaction with the housing of the aircraft device 100 in order to move the docking guide 300 to the aircraft device 200, which is simultaneously present with the aircraft device 100 in a predetermined area of ​​airspace at a distance from the aircraft device 100 and has already transferred the payload 400 to the aircraft device 100 by the docking guide 300 (see description below).

[0104] Furthermore, as shown in Figure 1.1, simultaneously with the aircraft device 100 described above, there is an aircraft device 200 in a housing 10, in which a payload 400 is provided, which is installed on a functional beam 30 so as to move longitudinally along the functional beam under the control of the control module of the aircraft device 200, in a predetermined area of ​​airspace at a predetermined distance from the aircraft device 100. This involves a transition to a docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other, enabling detachment from interaction with the functional beam 30 and subsequently transferring the payload 400 to the aircraft device by the docking guide 300. In this way, the functional beam 30 provided in the housing 10 of the aircraft device 200 substantially performs the function of a guide for the aircraft device 200.

[0105] In Figure 1.2, the first system 1000 for moving a payload according to the first aspect of the present invention already exists in a second state of the first system, which is a switchover or transition from the first state described above with reference to Figure 1.1. In the system 1000 existing in the second state, the aircraft devices 100 and 200, which are part of the system 1000, are detachably coupled or docked to each other by a docking guide 300, where one end of the docking guide 300 is located in the installation channel of the functional beam 30 provided on the aircraft device 100, or the other end is introduced or inserted into the installation channel of the functional beam 30 provided on the aircraft device 200. Note that in the system 1000 existing in the second state, the payload 400 is still positioned or installed in a predetermined location on the functional beam 30 provided on the aircraft device 200.

[0106] In particular, the aircraft device 100 further includes a guide movement module (not shown) operating under the control of a control module of the aircraft device 100, which is further configured to present control commands to a driver of a drive unit, the drive unit being part of this guide movement module of the aircraft device 100 and installed in or on its housing 10, wherein the guide movement module of the aircraft device 100 is configured to interact with a docking guide 300 according to a program-defined model of guide movement to move or displace a guide in an installation channel of a functional beam 30 provided in the housing 10.In particular, the movement or displacement of the docking guide 300 in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100 can, as a result of the interaction between the docking guide 300 and the guide movement module of the aircraft device 100, allow for the partial or complete extension of the docking guide 300 beyond the boundary of the housing 10 from the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, thereby allowing the docking guide 300 to be partially or substantially completely extended beyond the housing 10 as a result of such extension operation being performed by the guide movement module of the aircraft device 100 under the control of the control module of the aircraft device 100, or the docking guide 300 to be partially or substantially extended beyond the housing 10 by a predetermined distance from the housing 10. Although it may be fully extended, this fact then allows (i) in the case of partial extension of the docking guide 300 from the housing 10 in the aircraft device 100, docking of the aircraft device 100 to the aircraft device 200 by the docking guide 300 and transfer of the payload 400 from the aircraft device 200 to the aircraft device 100 along the docking guide 300 which detachably connects the aircraft devices 100 and 200 to each other, and (ii) in the case of substantial full extension of the docking guide 300 from the housing 10 in the aircraft device 100 by disengagement from interaction, transfer of the docking guide 300 from the aircraft device 100 to the aircraft device 200 (i.e., after the docking guide 300 has already been used to transfer the payload 400 from the aircraft device 200 to the aircraft device 100).

[0107] Furthermore, movement or displacement of the docking guide 300 in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100 may, as a result of interaction with the guide movement module of the aircraft device 100, allow the docking guide to be partially or completely retracted into the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, and as a result, the docking guide 300 that is extended forward (in particular, extended from the housing 10 of the aircraft device 100 or extended from the housing 10 of the aircraft device 200) may be partially or completely positioned in the housing 10, in particular in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, or it may be partially or completely retracted or inserted into the housing 10, in particular in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, respectively. In other words, the guide movement module of the aircraft device 100 allows the docking guide 300, which is partially or completely extended from the housing 10 of the aircraft device 100, to return to its initial or original state, that is, to be partially or completely housed inside the housing 10 of the aircraft device 100, which may be necessary, for example, if there is an obstacle to the normal docking of the aircraft device 100 to the aircraft device (e.g., undesirable weather conditions in the form of strong winds), or if there is an obstacle to the normal transfer of the payload 400 from the aircraft device 200 to the aircraft device 100 by the docking guide 300 which detachably connects the aircraft devices 100 and 200 to each other in mid-air. Furthermore, the guide movement module of the aircraft device 100 allows for the partial insertion or partial advancement of a docking guide 300, which is partially extended from the housing of the aircraft device 200 toward the interior of the housing 10 of the aircraft device 100 and introduced into a detachable interaction with the housing of the aircraft device 100, and then substantially enables the transfer of the payload 400 from the aircraft device 100 to the aircraft device 200 along the docking guide 300, which detachably connects the aircraft devices 100 and 200 to each other.Furthermore, the guide movement module of the aircraft device 100 is introduced toward the interior of the housing 10 of the aircraft device 100 into a detachable interaction with the housing of the aircraft device 100 and, upon disengagement from the interaction with the housing (after the docking guide 300 has already been used to transfer the payload 400 from the aircraft device 100 to the aircraft device 200), allows for the full insertion or full advancement of the docking guide 300 fully extended from the housing of the aircraft device 200, thereby substantially enabling the subsequent transfer of the docking guide from the aircraft device 200 to the aircraft device 100.

[0108] In one embodiment of the present invention, a guide movement module (not shown) which may be provided in the housing 10 of the aircraft device 100 may be configured to interact simultaneously or sequentially with at least one or each of the docking guides 300 which may be provided in the housing 10 of the aircraft device 100, or which may enter into a detachable interaction with the housing 10 under the control of a control module of the aircraft device 100, thereby enabling the movement or displacement of the docking guides relative to the housing 10, and in particular enabling the movement or advancement of the docking guides in the same installation channels of the functional beams 30 which may be provided in the housing 10 of the aircraft device 100, in corresponding (different) installation channels provided on the same functional beams 30 which may be provided in the housing 10 of the aircraft device 100, or in corresponding (different) installation channels provided on one of the corresponding functional beams 30 which may be provided in the housing 10 of the aircraft device 100.

[0109] The aircraft device 200 further includes a guide movement module (not shown) which operates under the control of a control module of the aircraft device 200, which is further configured to present control commands to a driver of a drive unit, the drive unit being part of this guide movement module of the aircraft device 200 and installed in or on its housing 10, wherein the guide movement module of the aircraft device 200 is configured to interact with a docking guide 300 according to a program-defined model of guide movement to move or displace a guide in an installation channel of a functional beam 30 provided in the housing 10.

[0110] In particular, movement or displacement of the docking guide 300 in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200 may, as a result of interaction with the guide movement module of the aircraft device 200, allow the docking guide to be partially or completely retracted into the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200, and as a result, the docking guide 300 that is extended forward (in particular, extending from the housing 10 of the aircraft device 100 or extending from the housing 10 of the aircraft device 200) may be partially or completely positioned in the housing 10, in particular in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200, or the docking guide may be partially or completely retracted / inserted into the housing 10, in particular in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200. In other words, the guide movement module of the aircraft device 200 allows for the partial insertion or partial advancement of a docking guide 300 that extends partially from the housing of the aircraft device 100 toward the interior of the housing 10 of the aircraft device 200 and is introduced into a detachable interaction with the housing of the aircraft device 200, and then substantially enables the transfer of the payload 400 from the aircraft device 100 to the aircraft device 200 along the docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other. Furthermore, the guide movement module of the aircraft device 200 is introduced into a detachable interaction with the housing of the aircraft device 200 toward the interior of the housing 10 of the aircraft device 200 and, upon disengagement from the interaction with the housing (i.e., after the docking guide 300 has already been used to transfer the payload 400 from the aircraft device 200 to the aircraft device 100), allows for the full insertion or full advancement of the docking guide 300 fully extended from the housing of the aircraft device 100, thereby substantially enabling the transfer of the docking guide 300 from the aircraft device 100 to the aircraft device 200.Furthermore, the guide movement module of the aircraft device 100 allows the docking guide 300, which is partially or completely extended from the housing 10 of the aircraft device 200, to be returned, that is, substantially returned to its initial or original state, where it is partially or completely housed inside the housing 10 of the aircraft device 200, which may be necessary, for example, if there is an obstacle to the normal docking of the aircraft device 200 to the aircraft device 100 (e.g., undesirable weather conditions in the form of strong winds), or if there is an obstacle to the normal transfer of the payload 400 from the aircraft device 100 to the aircraft device 200 by the docking guide 300 which detachably connects the aircraft devices 100 and 200 to each other in mid-air.

[0111] Furthermore, the movement or displacement of the docking guide 300 in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200 may, as a result of the interaction between the docking guide 300 and the guide movement module of the aircraft device 200, allow for the partial or complete extension of the docking guide 300 beyond the boundary of the housing 10 from the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200. As a result of the guide movement module of the aircraft device 200 performing such extension operations under the control of the control module of the aircraft device 200, the docking guide 300 may be partially or substantially completely extended beyond the housing 10, or the docking guide 300 may be partially or substantially extended beyond the housing 10 by a predetermined distance. It may be fully extended, but this fact then allows (i) in the case of partial extension of the docking guide 300 from the housing 10 in the aircraft device 200, docking of the aircraft device 200 to the aircraft device 100 by the docking guide 300, and transfer of the payload 400 from the aircraft device 100 to the aircraft device 200 along the docking guide 300 which detachably connects the aircraft devices 100 and 200 to each other, and (ii) in the case of substantially full extension of the docking guide 300 from the housing 10 in the aircraft device 200 by disengagement from the interaction, transfer of the docking guide 300 from the aircraft device 200 to the aircraft device 100 (i.e., after the docking guide 300 has already been used to transfer the payload 400 from the aircraft device 100 to the aircraft device 200).

[0112] In one embodiment of the present invention, a guide movement module (not shown) which may be provided in the housing 10 of the aircraft device 200 may be configured to interact simultaneously or sequentially with at least one or each of the docking guides 300 which may be provided in the housing 10 or which may enter into a detachable interaction with the housing under the control of a control module of the aircraft device 200, thereby enabling the movement or displacement of the docking guides relative to the housing 10, and in particular enabling the movement or advancement of the docking guides in the same installation channels of the functional beams 30 which may be provided in the housing 10 of the aircraft device 200, in corresponding (different) installation channels provided on the same functional beams 30 which may be provided in the housing 10 of the aircraft device 200, or in corresponding (different) installation channels provided on one of the corresponding functional beams 30 which may be provided in the housing 10 of the aircraft device 200.

[0113] The aircraft device 200 further includes a controlled docking module for docking to a guide (not shown), the docking module operating under the control of a control module of the aircraft device 200 and further configured to present control commands to a driver of a drive unit which is part of this docking module of the aircraft device 200, and is installed in or on its housing 10, wherein the docking module of the aircraft device 200 is configured to interact with a docking guide 300 according to a program-defined model of interaction with the guide, thereby enabling docking guide alignment (centering) with respect to the entrance opening of the installation channel of a functional beam 30 provided in the housing 10 of the aircraft device 200, and enabling partial insertion of the docking guide at its free end into the installation channel of the functional beam 30 at a predetermined distance sufficient to enable detachable coupling or detachable docking of the aircraft devices 100, 200 to each other.Furthermore, the docking module of the aircraft device 200 is further configured to interact with the docking guide 300 so as to enable the docking guide to be held or fixed to the installation channel of the functional beam 30 in one of the following states: (i) the docking guide 300 is partially inserted into or retracted into the installation channel of the functional beam 30 while the docking guide 300 is used to detachably dock the aircraft device 100 to the aircraft device 200 so as to enable the transfer of the payload 400 from the aircraft device 200 to the aircraft device 100 along the docking guide 300, thereby eliminating the possibility of unintentional undocking of the docking guide 300 from the aircraft device 200, particularly during the transfer of the payload 400 along the docking guide from the aircraft device 200 to the aircraft device 100; (ii) the transfer of the payload 400 along the docking guide 300 from the aircraft device 100 to the aircraft device 200. (iii) during transport of the docking guide 300 on the aircraft equipment 200 to a target area of ​​airspace for detachable coupling or detachable docking to the aircraft equipment 100, the docking guide 300 is partially extended from or partially over the boundary of this installation channel of the functional beam 30, thereby eliminating the possibility of unintentional detachment of the docking guide 300 from the aircraft equipment 200, particularly during the movement of the payload 400 along the docking guide from the aircraft equipment 100 to the aircraft equipment 200, and (iii) during the transport of the docking guide 300 on the aircraft equipment 200 to a target area of ​​airspace for detachable coupling or detachable docking to the aircraft equipment 100, the docking guide 300 is fully or substantially fully inserted or retracted into the installation channel of the functional beam 30, thereby eliminating the possibility of unintentional detachment of the docking guide 300 from the installation channel of the functional beam 30 provided in the housing 10 of the aircraft equipment 200.

[0114] The aircraft device 100 further includes a controlled docking module for docking to a guide (not shown), the controlled docking module operating under the control of a control module of the aircraft device 100 and further configured to present control commands to a driver of a drive unit which is part of this docking module of the aircraft device 100, and is installed in or on the housing 10 of the aircraft device, wherein the docking module of the aircraft device 100 enables the retention or fixation of the docking guide in the installation channel of a functional beam 30 provided in the housing 10 of the aircraft device 100 in the following state: The docking guide 300 is configured to interact with the aircraft equipment 200, and the state is such that (iii) the docking guide 300 is partially extended from or partially over the boundary of the installation channel of the functional beam 30, while the docking guide is used to detachably dock the aircraft equipment 100 to the aircraft equipment 200, thereby eliminating the possibility of unintended undocking of the docking guide 300 from the aircraft equipment 100, in particular during the movement of the payload 400 along the docking guide from the aircraft equipment 200 to the aircraft equipment 100. Furthermore, the docking module of the aircraft device 100 is further configured to interact with the docking guide 300, allowing the docking guide 300 to be held or fixed to the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, while using the docking guide 300 for detachable docking of the aircraft device 200 to the aircraft device 100, with the docking guide 300 partially inserted into or retracted into the installation channel of the functional beam 30, thereby eliminating the possibility of unintentional undocking of the docking guide 300 from the aircraft device 100, particularly during the movement of the payload 400 along the docking guide from the aircraft device 100 to the aircraft device 200.Furthermore, the docking module of the aircraft device 100 is further configured to interact with the docking guide 300 so as to allow the docking guide 300 to be held or secured to the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, while the docking guide 300 on the aircraft device 100 is transported to a target area of ​​airspace for detachable coupling or detachable docking to the aircraft device 200, for example, while the docking guide 300 is fully or substantially fully inserted into or retracted into the installation channel of the functional beam 30, thereby eliminating the possibility of unintentional detachment of the docking guide 300 from the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100. Furthermore, the docking module of the aircraft device 100 is further configured to interact with the docking guide 300 according to a program-defined model of interaction with the guide, enabling alignment (centering) of the docking guide with respect to the entrance opening of the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, and enabling partial insertion of the docking guide at its free end into the installation channel of the functional beam 30 at a predetermined distance sufficient to enable detachable coupling or detachable docking of the aircraft devices 100 and 200 to each other.

[0115] Furthermore, a docking module for docking to a guide that may be provided in the housing 10 of each aircraft device 100, 200 which is part of system 1000 is also called a docking module, and may be configured, for example, in the form of a gripping mechanism with compression operated by a drive unit whose driver (control unit) can receive control commands from the control module of the aircraft device or from any control device of system 1000. Thus, a driver (control unit) which is part of each docking module for docking to a guide that may be provided in the housing 10 of one of the corresponding aircraft devices 100, 200 may be configured to receive control commands from the control module of the aircraft device or from any control device of system 1000 so as to enable control of the operation of the docking module, specifically its drive unit, based on the received control commands. In particular, each docking module in the form of a gripping mechanism is configured to engage with a docking guide 300 by clamping or gripping it from two opposing sides by compression plates, the docking guide 300 can move between the compression plates, or can be clamped or compressed to fix or hold the docking guide 300 in a fixed state, in which case the docking guide is partially or completely housed in an installation channel of a functional beam 30, which may be provided with a housing 10 in one of the aircraft equipment 100, 200 that are part of the system 1000.

[0116] Thus, while the system 1000 transitions from the first state shown in Figure 1.1 to the second state shown in Figure 1.2, the guide movement module of the aircraft device 100, under the control of the control module of the aircraft device 100, enters into interaction with the docking guide 300 disposed in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100 in order to move or advance the docking guide 300 to the installation channel of the functional beam 30, and moves the docking guide 300 outward from the housing 10 (particularly This allows the docking guide 300 to be partially extended by a predetermined distance toward a second aircraft device 200 located in the same area of ​​airspace as the aircraft device 100, and preferably toward the opposite side of the aircraft device 100, such that the free end of the extended docking guide 300 is sufficient to introduce the aircraft device 200, specifically its housing 10, into a detachable interaction, thereby eliminating the potential risk of mutual damage between the winged air propulsion units 20 provided in the housings 10 of these aircraft devices 100, 200. After partially extending the docking guide 300 from the housing of the aircraft device 100 using the guide movement module of the aircraft device 100, the docking module that docks to the guide, which is part of the aircraft device 100, enters into interaction with the partially extended docking guide 300 so as to be fixed in this state. Next, the docking module that docks to the guide, which is part of the aircraft device 200, enters into interaction with the free end of the partially extended docking guide 300. The docking module 300 is aligned (centered) with the entrance opening of the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200, and the free end of the docking guide 300 is partially (limitedly) inserted into the installation channel of the functional beam 30, so that the inserted end of the docking guide 300 can enter into interaction with the guide movement module provided in the housing 10 of the aircraft device 200.Upon entering into interaction with the docking guide 300, the guide movement module of the aircraft device 200 then presents a signal to the control module of the aircraft device 200 indicating that the guide movement module of the aircraft device 200 is entering into interaction with the docking guide 300, and this control module presents the signal substantially simultaneously to the docking module of the aircraft device 200 and the docking module of the aircraft device 100 (for example, using a control device of system 1000 to which the control module of the aircraft device 200 may present the signal, which may then transmit the received signal to the control module of the aircraft device 100, and the control module of the aircraft device 100) The control module may use a signal received from the control device of system 1000 to the docking module of aircraft device 100), and the guide movement module of aircraft device 200 may move or advance the docking guide a predetermined distance toward the interior of the installation channel of the functional beam 30 provided in the housing 10 of aircraft device 200, thereby at least temporarily disengaging the docking module of aircraft device 100 and the docking module of aircraft device 200 from interaction with the docking guide 300, the predetermined distance may be controlled, for example, by an infrared sensor installed at a predetermined location within the installation channel of the functional beam. After placing the free end of the docking beam 300 at an appropriate location within the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200, the guide movement module of the aircraft device 200 provides control signals to the docking module of the aircraft device 200 and the docking module of the aircraft device 100 substantially simultaneously in a similar manner, in order to fix both ends of the docking guide 300 to the corresponding installation channels of the functional beam 30 provided in the housing 10 of the aircraft devices 100 and 200, thereby substantially performing a detachable coupling or detachable docking of the aircraft devices 100 and 200 to each other.

[0117] In other words, as a result of system 1000 transitioning from the first state shown in Figure 1.1 to the second state shown in Figure 1.2, aircraft devices 100 and 200 are detachably docked to each other by docking guides 300, which are fixed at both ends to aircraft devices 100 and 200 by docking modules.

[0118] In some embodiments of the present invention, the docking guide 300 includes a controllable docking module or docking mechanism (not shown) fixed or installed to at least one or each of the ends of the docking guide 300 and operably coupled to a control module of the docking guide 300, thereby enabling control of the operation of these docking mechanisms of the docking guide 300, and is configured to enter into a detachable interaction with the housing 10 of either the aircraft equipment 100 or 200, or the docking module of either the aircraft equipment 100 or 200, thereby enabling the docking guide 300 to be detachably connected to the housing of the aircraft equipment 200 in order to dock the aircraft equipment 100 to the aircraft equipment 200, or enabling the docking guide 300 to be detachably connected to the housing of the aircraft equipment 100 in preparation for docking the aircraft equipment 200 to the aircraft equipment 100. In one modified embodiment of this invention, at least one or each of the docking guides 300 that can be used to detachably connect aircraft devices 100, 200 to one another may be provided with the docking mechanism at at least one or each of the ends of the docking guide 300.

[0119] While the system 1000 transitions from the second state shown in Figure 1.2 to the third state shown in Figure 1.3, the control module of the aircraft device 200, after completing the process of detachably docking aircraft device 100 to aircraft device 200 by the docking guide 300 which detachably connects aircraft devices 100 and 200 to each other, presents a control signal to the carriage of the docking module 420, which is part of the payload 400 and is installed on the functional beam 30 of the aircraft device 200, thereby enabling the carriage of the docking module 420 to move toward the first aircraft device 100 together with the payload 400, or toward the docking guide 300 which detachably connects aircraft devices 100 and 200 to each other. As the carriage of the docking module 420 approaches the end of the functional beam 30, the docking guide 300 is inserted into the installation channel of the functional beam 30 at the beam-side end, and the carriage of the docking module 420, along with the payload 400, moves from the outer surface of the functional beam 30 toward the docking guide 300, allowing them to move along the docking guide 300 toward the aircraft equipment 100, and as a result, the aerial movement of the payload toward the docking guide 300 toward the aircraft equipment 100. Thus, as a result of the system 1000 transitioning from the second state shown in Figure 1.2 to the third state shown in Figure 1.3, the carriage of the docking module 420 moves the payload 400 to the docking guide 300, which detachably connects the aircraft equipment 100 and 200 to each other. As a result, the payload 400 is placed or installed on the docking guide 300 by the carriage of the docking module 420 and moves longitudinally along the docking guide, particularly toward the aircraft equipment 100.Furthermore, while the system 1000 is transitioning from the second state shown in Figure 1.2 to the third state shown in Figure 1.3, and while the system 1000 is in the third state in which the payload 400 is movably placed on the docking guide 300, the docking module of the aircraft device 200 and the docking module of the aircraft device 100 are still fixed at both ends of the docking guide 300 to the corresponding mounting channels of the functional beam 30 provided in the housing 10 of the aircraft devices 100 and 200, so that the docking guide 300 is substantially fixed between the aircraft devices 100 and 200 so as not to be displaced or moved toward either of the aircraft devices 100 and 200.

[0120] In one embodiment of the present invention, the aircraft device 100 may be detachably docked to the aircraft device by two or more docking guides 300, and the payload 400 may be mounted on the aircraft device 200 so as to move relative to the housing of the aircraft device 200 along a functional beam 30 provided in the housing 10 of the aircraft device 200 by the carriage of the docking module 420, and the aircraft devices 100, 200 are detachably coupled to each other, allowing the payload 400 to be placed on the docking guides 300 so as to allow longitudinal movement of the payload along the docking guides 300, and the aircraft devices 100, 200 are detachably coupled to each other, by the docking guides 300.

[0121] While the system 1000 transitions from the third state shown in Figure 1.3 to the fourth state shown in Figure 1.4, the carriage of the docking module 420, which receives control signals from the control module of the aircraft device 200 or the control device of the system 1000, continues to move toward the aircraft device 100 together with the payload 400 along the docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other. As the carriage of the docking module 420 approaches the aircraft device 100, it moves together with the payload 400 from the docking guide 300 to a functional beam 30 provided on the housing 10 of the aircraft device 100 and substantially performing the function of a guide for the aircraft device 100, thereby allowing the carriage of the docking module 420 to move along the functional beam 30 until the payload 400 is placed in a predetermined position on the aircraft device 100 relative to its housing 10 or relative to the functional beam 30. Furthermore, in order to stop the carriage of the docking module 420 at a predetermined aerial position relative to the housing 10 so that the payload 400 can be placed there, the location on the functional beam 30 provided on the housing 10 of the aircraft device 100 may be controlled, for example, by an infrared sensor disposed on the moving surface of the functional beam 30 to a location or section that roughly corresponds to the location for stopping the carriage of the docking module 420, and the payload may be operably coupled to the control module of the aircraft device 100 so as to communicate with each other.In order to place the payload 400 at a predetermined position in the air relative to the housing 10, the carriage of the docking module 420 is stopped at a predetermined location on the functional beam 30 provided on the housing 10 of the aircraft device 100. The driver (control unit) of the carriage of the docking module 420 then presents an information signal to the control module of the aircraft device 100 or the control device of the system 1000. This information signal indicates the completion of the process of installing the payload 400 on the aircraft device 100. The same signal is transmitted (retransmitted) substantially simultaneously to the docking module of the aircraft device 200 and the docking module of the aircraft device 100 to release the docking guide 300, thereby detaching the aircraft device from interaction with the docking guide 300 and substantially enabling the movement or transfer of the released docking guide 300 to the aircraft device 200. Furthermore, after the release of the docking guide 300, the driver (control unit) of the docking module of aircraft device 100 and the driver (control unit) of the docking module of aircraft device 200 each present corresponding information signals to the control modules of aircraft device 100 and aircraft device 200, respectively, indicating the completion of the process of releasing the docking guide 300. These control modules then each transmit the information signals to the control device of system 100, and in response to the signals, the control device of system 100 generates control commands to present control commands to the guide movement module of aircraft device 200 via a communication network (not shown) in order to activate the guide movement module of aircraft device 200. The activated guide movement module of aircraft device 200 then enters into interaction with the docking guide 300, which has already been released from interaction with the docking modules of aircraft devices 100 and 200, in order to move or retract the docking guide 300 into the installation channel of the functional beam 30 provided in the housing 10 within aircraft device 200.While the docking guide 300 is retracted into the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200, the retractable docking guide 300 exits the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 100, disengaging the aircraft device 100 from interaction with the housing 10, and subsequently fully rests in the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200. Furthermore, the placement of a docking guide 300 that can be fully retracted into the installation channel of the functional beam 30 provided in the housing 10 of the aircraft device 200 may be controlled by an infrared sensor disposed inside the functional beam 30 relative to the installation channel, to a location or section of the functional beam 30 that roughly corresponds to the end portion of the installation channel, the length from this end portion to the opposite end of the installation channel of the functional beam 30 roughly corresponds to the length of the docking guide 300, and the infrared sensor is operably coupled to the control module of the aircraft device 200 so as to communicate with each other so that the control module of the aircraft device 200 can receive information signals from the infrared sensor, and the information signals are used to control the docking guide 300 to the guide movement module of the aircraft device 200. The route retracts the functional beam 30 into the installation channel, indicating that it has reached the end portion of this installation channel of the functional beam 30, i.e., a predetermined location within the installation channel of the functional beam 30, which corresponds to the docking guide 300 being fully placed within the installation channel of the functional beam 30. In response to the information signal, a first control command can be generated, which is presented to the guide movement module of the aircraft device 200 to stop the forward movement of the retractable docking guide 300 and to occupy a desired (target) location within the installation channel of the functional beam 30, and a second control command can be generated, which is presented to the docking module of the aircraft device 200 to fix the docking guide 300 at the target location on the aircraft device 200.

[0122] Thus, in the system 1000 in the fourth state shown in Figure 1.4, the payload 400 is placed or installed in a fixed location on a functional beam 30 provided on the housing 10 of the aircraft device 100 by the carriage of the docking module 420, and the docking guide 300 used to move or transport the payload 400 from the aircraft device 200 to the aircraft device 100 along it is placed or installed on the installation channel of the functional beam 30 provided on the housing 10 of the aircraft device 200 (i.e., the housing 10 of the aircraft device 200). In other words, the fourth state of the system 1000 shown in Figure 1.4 corresponds to the completion of the process in which, after the payload 400 has been moved along it from the aircraft device 200 to the aircraft device 100, the aircraft device 200 replaces the docking guide 300, which has been moved or transported along it from the aircraft device 100 to the aircraft device 200, with the payload 400, and the aircraft device 100 replaces the docking guide 300, which has been used to detachably connect the aircraft devices 100 and 200 to each other, with the payload 400, so as to transfer / move the payload 400 along it from the aircraft device 200 to the aircraft device 100.

[0123] Furthermore, while the system 1000 transitions from the third state shown in Figure 1.3 to the fourth state shown in Figure 1.4, in particular, until the docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other is released, the docking module of aircraft device 200 and the docking module of aircraft device 100 continue to fix both ends of the docking guide 300 to the corresponding mounting channels of the functional beam 30 provided in the housing 10 of the aircraft devices 100 and 200. Thus, the docking guide 300 remains substantially firmly fixed between the aircraft devices 100 and 200 so as not to be displaced or moved toward either of the aircraft devices 100 or 200.

[0124] Furthermore, the above-described functional operation, which is performed using the aforementioned functional components and modules that are part of the aircraft devices 100 and 200, and which illustrates the sequential transition of the system 1000 from the initial (first) state shown in Figure 1.1 to the final (fourth) state shown in Figure 1.4, to enable the transfer of the payload 400 from the aircraft device 200 to the aircraft device 100 along the docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other, may also be performed in the reverse order to enable the transfer of the payload 400 from the aircraft device 100 to the aircraft device 200 along the docking guide 300 that detachably connects the aircraft devices 100 and 200 to each other. It should also be noted that the aircraft devices 100 and 200, which are part of the system 100, have substantially identical design and functional characteristics. Therefore, those skilled in the art will understand that the payload may be initially installed on aircraft device 100 instead of aircraft device 200, and the docking guide 300 may be initially installed on aircraft device 200 instead of aircraft device 100. Furthermore, different reference numbers are introduced only to simplify understanding the process by which such aircraft devices 100, 200 interact with each other to directly exchange the payload 400 with the docking guide 300 in mid-air. In some embodiments of the present invention, system 1000 may include aircraft device 100, each provided with a payload 400, aircraft device 100, each provided with a docking guide 300, aircraft device 200, each provided with a payload 400, and aircraft device 200, each provided with a docking guide 300.

[0125] In another embodiment of the present invention, the housing 10 of the aircraft device 200 may further comprise a payload transfer module (not shown) that operates under the control of a control module of the aircraft device 200 that receives control commands from a control device of system 1000, or under the control of a control unit of a payload 400 that may receive control commands from the control module of the aircraft device 200 or from a control device of system 1000. In such embodiments of the present invention, the payload transfer module of the aircraft device 200 may be configured to interact with a payload 400 located or installed on at least one of the docking guides 300 that detachably connect aircraft devices 100, 200, so as to enable the payload 400 to move toward the aircraft device 100 along at least one docking guide 300, thereby enabling the loading of a payload onto the aircraft device 100 or enabling the transfer of a payload to the aircraft device 100. In one variation of this embodiment of the present invention, a payload transfer module, which may be further provided in the housing 10 of the aircraft device 200, may be a robotic manipulator or grip configured to grasp a payload 400 located on at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 and operate under the control of a control module of the aircraft device 100 or a control device of the system 1000, thereby enabling the movement of the grasped payload 400 onto the aircraft device 100 along the at least one docking guide 300 in order to place the payload 400 onto the aircraft device 100.In another variation of this embodiment of the present invention, a payload movement module, which may be further provided in the housing 10 of the aircraft device 200, may be a pusher configured to act on a payload 400 located on at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 when in operation, enabling the movement of the payload 400 to the aircraft device 100 along the at least one docking guide 300, where the aircraft device 200 operates under the control of a control module of the aircraft device 200 or a control device of the system 1000, and may further include a drive device (not shown) operably coupled to the pusher in particular to enable the operation of the pusher of the aircraft device 200, so as to enable control of its operation.

[0126] In another embodiment of the present invention, the housing 10 of the aircraft device 200 may further include a robotic manipulator or grip configured to grip the payload 400 so as to enable the placement of the gripped payload 400 on at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other, and which operates under the control of the control module of the aircraft device 200 or under the control of a control device of the system 1000. In one variation of this embodiment of the present invention, the robotic manipulator or grip that may further be provided on the housing 10 of the aircraft device 200 may further be configured to enable the movement or transfer of the gripped payload 400 to the aircraft device 100 along at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other. In another variation of this embodiment of the present invention, at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 may further comprise a driven carriage (not shown), and the robotic manipulator or grip of aircraft device 200 may be further configured to enable detachable loading of a grasped payload 400 onto the carriage, or to enable detachable docking of a grasped payload 400 to the carriage, and the driven carriage itself may be configured to move along the at least one docking guide 300 under the control of a control device of system 1000 or a driver (control unit) of the carriage that receives control commands from a control device of system 1000 or a control module of either aircraft device 100, 200, enabling the movement or transfer of the payload 400 to the aircraft device 100 for loading the payload onto the aircraft device 100.In yet another variation of this embodiment of the present invention, the payload 400, grasped by a robotic manipulator or grip of the aircraft device 200, may further comprise a driven propulsion unit configured to operate under the control of a control module of the aircraft device 200 or a control device of system 1000 and to interact with at least one of the docking guides 300 on which the payload 400 is placed or installed, thereby enabling the movement or transfer of the payload 400 to the aircraft device 100 along the at least one docking guide 300 in order to place the payload on the aircraft device 100. In another variation of this embodiment of the present invention, the payload 400, gripped by a robotic manipulator or grip of the aircraft device 200, may further comprise a driven carriage (not shown) operating under the control of a control module of the aircraft device 200 or a control device of system 1000, the robotic manipulator or grip may further be configured to allow the driven carriage of the payload 400 to load the gripped payload 400 onto at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200, wherein the driven carriage of the payload 400 may be configured to move along the at least one docking guide 300 under the control of the control device to allow the movement or transfer of the payload 400 to the aircraft device 100 in order to load the payload onto the aircraft device 100.

[0127] In some embodiments of the present invention, the housing 10 of an aircraft device 200 having a payload 400 may further include a docking housing guide (in particular in addition to or instead of the functional beam 30), and the payload 400 itself may be mounted on this housing guide of the aircraft device 200 by a driven carriage which is part of the docking module 420 and operates under the control of the control module of the aircraft device 200 or the control device of the system 1000, where the docking module of the aircraft device 200, aircraft device 100, 2 The detachable coupling of the 00 with at least one of the docking guides 300 that detachably couple to each other enables the coupling of the at least one docking guide 300 and the housing guide of the aircraft device 200 to form a cluster guide, which enables the cluster guide to move or transport the payload 400 onto the aircraft device 100 in order to place its payload inside or on the aircraft device 100, and the movement of the driven carriage of the payload 400 onto the aircraft device 100 along the cluster guide.

[0128] In some other embodiments of the present invention, an aircraft device 200 comprising a payload 400 may further comprise one or more driven work elements or work members that operate under the control of a control module of the aircraft device 200 or a control device of system 1000 and are configured to perform one of the following functional operations or actions: (i) gripping a payload 400 located on or mounted on at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 to each other, so as to enable the movement or transfer of the gripped payload 400 to the aircraft device 100 along at least one docking guide 300 for the purpose of placing the payload on or inside the aircraft device 100; and (ii) acting on the payload 400 located on or mounted on at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 to each other, so as to enable the movement or transfer of this payload 400 to the aircraft device 100 along the at least one docking guide 300 for the purpose of placing the payload on or inside the aircraft device 100. In one variation of this embodiment of the present invention, at least one driven working member or driven working element, which may be further provided in the housing 10 of the aircraft device 200, may be further configured to grip at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other (for example, after disengaging from interaction with docking modules provided in the housing 10 of both aircraft devices 100, 200), enabling them to be placed in or on the housing 10 of the aircraft device 200, or enabling interaction with the at least one docking guide 300, thereby enabling the docking guide to be retracted into the housing 10 of the aircraft device 200, or enabling the docking guide to be attracted to the housing 10 of the aircraft device 200.

[0129] In some other embodiments of the present invention, the aircraft device 100 may be further configured to house or install a payload 400, which has been transferred to the aircraft device 100 by at least one docking guide 300 that detachably connects the aircraft devices 100, 200 to each other, within or on the housing 10 of the aircraft device 100.

[0130] In some other embodiments of the present invention, the housing 10 of the aircraft device 100 may further include one or more housing guides (in particular, in addition to or instead of the functional beams 30 provided in the housing 10 of the aircraft device 100), and at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other is further configured to enable a detachable connection of the aircraft device 100 to at least one of the housing guides, and enables the movement of the aircraft device 100 along the at least one housing guide of the aircraft device 100 of a payload 400 that is moved or transported from the aircraft device 200 to the aircraft device 100 along the at least one docking guide 300.

[0131] In another embodiment of the present invention, the aircraft device 100 may further include a loading module (not shown) configured to operate under the control of the aircraft device 100's control module or a control device of the system 1000 and to interact with a payload 400 moved or transported to the aircraft device 100, and enabling the loading of the payload into or on the housing 10 of the aircraft device 100. In one variation of this embodiment of the present invention, the loading module that may further be provided to the aircraft device 100 may be a robotic manipulator or grip (not shown) configured to grasp the payload 400 moved or transported to the aircraft device 100 in order to enable the loading of the payload into or on the housing 10 of the aircraft device 100, and to operate under the control of the aircraft device 100's control module or a control device of the system 1000. In another variation of this embodiment of the present invention, a load module which may be further provided on the aircraft device 100 may be a pull-in device (not shown) configured to operate under the control of a control module of the aircraft device 100 or a control device of the system 1000 and to act on a payload 400 that has been moved or transported to the aircraft device 100 in order to allow the payload to be placed in or on the housing 10 of the aircraft device 100.In yet another variation of this embodiment of the present invention, the housing 10 of the aircraft device 100 may further comprise one or more weight sensors (not shown), each weight sensor may be configured to measure the weight of a payload 400, and may be installed or housed in one of the locations of the housing 10 for housing the payload 400, and each weight sensor may be configured to present its reading to a control module of the aircraft device 100 or a control device of system 1000, where the control module of the aircraft device 100 or the control device of system 1000 is further configured to generate a control command or command in response to the received reading of the weight sensors of the aircraft device 100, and to present the reading to a loading module which may further be provided in the aircraft device 100 for housing the payload 400 in or on the housing 10 of the aircraft device 100. In another variation of this embodiment of the present invention, a load module, which may be further provided on the aircraft device 100, may be mounted on at least one additional housing guide of the aircraft device 100 so as to move longitudinally along therefor, thereby enabling the movement of the payload 400 relative to the housing 10 of the aircraft device 100.

[0132] In another embodiment of the present invention, at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 to each other may further comprise a gripping mechanism (not shown) configured to operate under the control of a control module of aircraft device 100, a control module of aircraft device 200, a control unit of docking guide 300, or a control device of system 1000, and to grip a payload 400, thereby enabling the placement or suspension of the gripped payload 400 on at least one other docking guide among these docking guides 300 that detachably connect aircraft devices 100, 200 to each other, or on the at least one docking guide 300 equipped with the gripping mechanism. In one variation of this embodiment of the present invention, the gripping mechanism, which may be provided on at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 to each other, may be configured to rotate in order to allow rotation of the payload 400 gripped by the gripping mechanism relative to the docking guide 300 equipped with the gripping mechanism. In another variation of this embodiment of the present invention, a gripping mechanism, which may be provided on at least one of the docking guides 300 that detachably connect aircraft devices 100, 200 to each other, may be configured to move along the at least one docking guide 300 on which the gripping mechanism is installed, thereby enabling the movement of a payload 400 gripped by the gripping mechanism along the docking guide on which the payload 400 is installed or suspended.

[0133] In various embodiments of the present invention, a docking module provided on the aircraft device 200 may be further configured to retract or attract at least partially one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other, after the payload has been moved onto the aircraft device 100 along one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other. Thus, in such embodiments of the present invention, the docking module of the aircraft device 200 can retract or attract not only at least one or each of the docking guides 300 used to move or transfer the payload 400 along it from the aircraft device 200 to the aircraft device 100, but also any other of the docking guides 300 used to detachably connect the aircraft devices 100, 200 to each other.

[0134] In various other embodiments of the present invention, a docking module provided on the aircraft device 200 may be further configured to at least partially retract or attract at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other, under the control of the control module of the aircraft device 200 or the control device of the system 1000, in response to an information signal from the control module of the aircraft device 100 or an information signal from the control device of the system 1000 regarding the completion of the movement or transfer of the payload 400 to the aircraft device 100.

[0135] In various embodiments of the present invention, at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other may be detachably mounted on the aircraft device 100 by one or more docking modules of the aircraft device 100, which are configured to release the at least one docking guide 300 after the movement or transfer of the payload 400 from the aircraft device 200 to the aircraft device 100.

[0136] According to one embodiment of the present invention, at least one docking guide for detachably connecting aircraft devices 100, 200 to each other may be detachably mounted on the aircraft device 100 by one or more docking modules of the aircraft device 100, which are configured to operate under the control of a control module of the aircraft device 100 or a control device of the system 1000 and to release the at least one docking guide in response to an information signal from the control device regarding the completion of the movement or transfer of the payload 300 to the aircraft device 100.

[0137] According to yet another embodiment of the present invention, a guide movement module, which is installed in or on an aircraft device 200 having a payload 400 and operates under the control of a control module of the aircraft device 200 or a control device of the system 1000, to enable interaction with at least one of the docking guides 300 that detachably connect the aircraft devices 100, 200 to each other in order to move the at least one docking guide 300 onto the aircraft device 200, may be a robotic manipulator or grip configured to grasp the at least one docking guide 300 in order to place the docking guide in or on the housing 10 of the aircraft device 200.

[0138] According to another embodiment of the present invention, a guide movement module, which is installed in or on the aircraft device 200 having a payload 400 and operates under the control of a control module of the aircraft device 200 or a control device of the system 1000, to enable the aircraft devices 100, 200 to enter into interaction with at least one of the docking guides 300 that detachably connect to each other in order to enable the movement of the at least one docking guide 300 onto the aircraft device 200, may be a retraction device configured to interact with the at least one docking guide 300 to enable the retraction of the aircraft device 200 into the housing 10 or to enable the aircraft device 200 to be attracted to the housing 10 when the retraction device is activated, wherein the aircraft device 200 having a payload 400 operates under the control of a control module of the aircraft device 200 or a control device of the system 1000 and further comprises a driven device operably coupled to the retraction device to activate the retraction device.

[0139] A second system for moving the payload Figures 2.1 to 2.4 are schematic diagrams of one exemplary embodiment of a second system 2000 for moving a payload according to a second aspect of the present invention, the system comprising an aircraft device 200 having a payload 400 similar to the system 1000 described above, and a cluster aircraft device 150 formed from two aircraft devices 100 that are detachably or non-detachably coupled to each other, and provided with a docking guide 300 configured similarly to the system 1000 described above. Thus, the system 200 substantially corresponds to the system 100 described above, except that the aircraft device with the docking guide 300 is a cluster aircraft device 150 including two aircraft devices 100 that are coupled to each other so that the installation channels of the functional beam 30 communicate with each other. Accordingly, most of the embodiments of the present invention described above for system 1000 also apply to the description of the structure and function of system 2000.

[0140] As shown in Figure 2.1, in system 2000, the docking guide 300 extends from the cluster aircraft device 150 and engages in a detachable interaction with the aircraft device 200, on which the payload 400 is placed or installed. The cluster aircraft device 150 and the aircraft device 200, which are detachably coupled to each other by the docking guide 300, can move in the air or airspace even in this state, thereby transporting the payload 400 suspended or installed on the docking guide 300 between the cluster aircraft device 150 and the aircraft device 200.

[0141] As shown in Figure 2.2, in system 2000, the payload 400 can be moved or transported to the aircraft equipment 200 using the docking guide 300, and the docking guide 300 itself, after being used to move or transport the payload 400 along the docking guide to the aircraft equipment 200, is transported or moved to the cluster aircraft equipment 150, and the docking guide as a whole is placed on a cluster installation channel that extends to or is provided on a cluster functional beam provided in the housing of such cluster aircraft equipment 150.

[0142] As shown in Figure 2.3, in system 2000, the docking guide 300 may extend from the cluster aircraft device 150 so that its free end can enter into a detachable interaction with the aircraft device 200, and the cluster aircraft device 150 can be detachably coupled to the aircraft device 200, where the payload 400 can be placed on or installed on the aircraft device 200.

[0143] As shown in Figure 2.4, in system 2000, the payload 400 may be moved or transported to the cluster aircraft device 150 along a cluster guide 300 that detachably connects the cluster aircraft device 150 and the aircraft device 200 to each other, enabling the loading or installation of the payload on the cluster aircraft device 150. The cluster guide 300 may then be moved or transported to the aircraft device 200 (i.e., after the completion of the step of moving or transporting the payload 400 to the cluster aircraft device 150), enabling the partial loading or installation of the payload in the housing of the aircraft device 200.

[0144] After the payload 400 is placed on the cluster aircraft device 150 and the docking guide 300 is placed on the aircraft device 200, these aircraft devices 150 and 200 may be directed towards other target areas in space, for example, to dock with other aircraft devices that are part of the system 2000.

[0145] How to move the payload Figure 3 is a flowchart showing the main operation of the payload movement method 500, where the payload movement method 500 shown in Figure 3 may be carried out using the system 1000 or system 2000 for moving the payload, which may be implemented by any one of the relevant embodiments of the present invention described herein.

[0146] In particular, the method 500 for moving the payload shown in Figure 3 comprises the following three main operations or three main steps 510, 520, and 530, wherein step 510 includes docking in mid-air at least one aircraft device 200 on which the payload 400 is installed and at least one aircraft device 100 on which one or more docking guides 300 are installed, using at least one docking guide 300 under the control of a control device of system 1000. Next, step 520 includes enabling the movement of the payload 400 along the docking guides 300 that detachably connect the aircraft devices 100, 200 to or from the at least one aircraft device 100. At the end of method 500, step 530 includes, once the payload 400 is placed on or inside the aircraft device 100, enabling the transfer of at least one or each of the docking guides 300, which are employed to make a detachable coupling between the aircraft devices 100 and 200, to the aircraft device 200.

[0147] The exemplary embodiments, examples, and descriptions provided for this invention are intended solely to facilitate understanding of the principles of the claimed invention and are not intended to limit them. Other possible embodiments of the invention, or modifications or improvements to the above embodiments of the invention, are suggested to those skilled in the art after reading the above description. The scope of this invention is limited only by the appended claims.

Claims

1. A system for moving payloads, Two or more aircraft devices, each equipped with one or more air propulsion units for moving the aircraft device in the air, The aircraft equipment comprises one or more control devices configured to control the operation of the aircraft equipment, A payload is detachably mounted on at least one of the first aircraft devices among the aforementioned aircraft devices. A system in which one or more docking guides are detachably installed on at least one second aircraft device of the aircraft device, the docking guides are configured to enable detachable in-air docking of the at least one first aircraft device and the at least one second aircraft device in order to move the payload along the at least one docking guide to the at least one second aircraft device, and then to transfer at least one of the docking guides to the at least one first aircraft device.

2. The system according to claim 1, wherein the first aircraft device having a payload comprises a docking module configured to be detachably coupled to at least one docking guide of the second aircraft device.

3. The system according to claim 2, wherein the control device is communicatively coupled to the docking module and controls the operation of the docking module.

4. The system according to claim 2, wherein the payload is installed on the first aircraft device, and when the docking guide is detachably coupled to the docking module, it enables the movement of the payload to at least one of the docking guides of the second aircraft device, or the placement of the payload on at least one of the docking guides of the second aircraft device.

5. The system according to claim 4, wherein the first aircraft device having a payload further comprises a payload transfer module configured to operate under the control of the control device and to interact with the payload located on the at least one docking guide, thereby enabling the transfer of the payload onto the second aircraft device along the at least one docking guide.

6. The system according to claim 5, wherein the payload transfer module is a robotic manipulator or grip configured to operate under the control of the control device and to grasp the payload located on the at least one docking guide, enabling the transfer of the grasped payload onto the second aircraft device along the at least one docking guide.

7. The system according to claim 5, wherein the payload transfer module is a pusher configured, when activated, to act on the payload located on the at least one docking guide to enable the transfer of the payload to the second aircraft device along the at least one docking guide, and the first aircraft device having the payload further comprises a driven device that operates under the control of the control device and is operably coupled to the pusher to enable the operation of the pusher.

8. The system according to claim 1, wherein the first aircraft device having a payload further comprises a robotic manipulator or grip configured to operate under the control of the control device and to grasp the payload, enabling the placement of the grasped payload onto at least one of the docking guides of the second aircraft device.

9. The system according to claim 8, wherein the robotic manipulator or grip is further configured to allow the grasped payload to be moved onto the second aircraft device along the at least one docking guide.

10. The system according to claim 8, wherein the at least one docking guide further comprises a driven carriage, the robotic manipulator or grip being further configured to enable detachable placement of the grasped payload on the carriage or to enable detachable docking of the grasped payload to the carriage, and the driven carriage being configured to move along the at least one docking guide under the control of the control device to enable movement of the payload onto the second aircraft device.

11. The system according to claim 8, wherein the grasped payload further comprises a driven propulsion unit configured to operate under the control of the control device and to interact with the at least one docking guide, thereby enabling the movement of the payload onto the second aircraft device along the at least one docking guide.

12. The system according to claim 8, wherein the grasped payload further comprises a driven carriage operating under the control of the control device, the robotic manipulator or grip being further configured to allow the driven carriage to place the grasped payload on the at least one docking guide, the driven carriage being configured to move along the at least one docking guide under the control of the control device to allow the payload to move onto the second aircraft device.

13. The system according to claim 2, wherein the housing of the first aircraft device having the payload further comprises a docking guide, the payload is mounted on the docking guide by a driven carriage operating under the control of the control device, and the docking module of the first aircraft device is detachably coupled to the at least one docking guide of the second aircraft device, thereby enabling coupling between the at least one docking guide of the second aircraft device and the docking module of the first aircraft device to form a cluster guide, enabling the movement of the carriage of the payload to the second aircraft device along the cluster guide, and subsequently transferring the cluster guide to the first aircraft device.

14. The system according to claim 2, wherein the docking module provided on the first aircraft device having a payload is further configured to at least partially retract or attract at least one of the docking guides after the payload has been moved to the at least one second aircraft device.

15. The system according to claim 3, wherein the docking module provided on the first aircraft device having a payload is further configured to retract or attract at least one of the docking guides under the control of the control device in response to a signal from the control device relating to the movement of the payload to the at least one second aircraft device.

16. The system according to claim 1, wherein at least one of the docking guides of the second aircraft device is detachably coupled to or detachably installed in the housing of the second aircraft device.

17. The system according to claim 1, wherein at least one of the docking guides is detachably installed on the at least one second aircraft device by one or more docking modules of the second aircraft device, each of which is configured to release the at least one docking guide after the payload has been moved to the at least one second aircraft device.

18. The system according to claim 1, wherein at least one of the docking guides is detachably installed on the at least one second aircraft device by one or more docking modules of the second aircraft device, the docking guides being operated under the control of the control device and configured to release the at least one docking guide in response to a signal from the control device relating to the completion of the transfer of the payload to the at least one second aircraft device.

19. The system according to claim 1, wherein the first aircraft device having a payload further comprises a guide movement module configured to operate under the control of the control device and to interact with at least one of the docking guides to enable the movement of the payload onto the first aircraft device.

20. The system according to claim 19, wherein the guide movement module is a robotic manipulator or grip configured to operate under the control of the control device and to grasp the at least one docking guide in order to place the at least one docking guide in or on the housing of the first aircraft device.

21. The payload transfer module is a retractable device configured to operate under the control of the control device and to interact with the at least one docking guide, wherein when the retractable device is activated, it enables the at least one docking guide to be retracted into the housing of the first aircraft device, or enables the at least one docking guide to be attracted to the housing of the first aircraft device, and the first aircraft device having a payload further comprises a driven device which operates under the control of the control device and is operably coupled to the retractable device to enable the activation of the retractable device, the system according to claim 19.

22. The first aircraft device having a payload comprises one or more driven work elements or work members that operate under the control of the control device, To enable the movement of the grasped payload onto the second aircraft device along the at least one docking guide, the payload is grasped at the at least one docking guide, or The system according to claim 1, further comprising one or more driven work elements or work members configured to act on the payload positioned on the at least one docking guide, enabling the movement of the gripped payload onto the second aircraft device along the at least one docking guide.

23. The system according to claim 22, wherein at least one of the driven working members or at least one of the driven working elements is further configured to grip the at least one docking guide so as to enable placement of the at least one docking guide in or on the housing of the first aircraft device, or is configured to interact with the at least one docking guide so as to enable retraction of the at least one docking guide into the housing of the first aircraft device, or enables attraction of the at least one docking guide into the housing of the first aircraft device.

24. The system according to claim 1, wherein the second aircraft device is further configured to house or install a payload, which has been transferred to the second aircraft device along the at least one docking guide, within or on the housing of the second aircraft device.

25. The system according to claim 1, wherein the second aircraft device further comprises one or more housing guides, the at least one docking guide being further configured to allow a detachable coupling of the at least one docking guide to at least one of the housing guides of the second aircraft device, and allowing the movement of the payload of the second aircraft device along the at least one housing guide of the second aircraft device to be transported along the at least one docking guide.

26. The system according to claim 1, wherein the second aircraft device further comprises a loading module configured to operate under the control of the control device and to interact with the payload transferred to the second aircraft device, thereby enabling the placement of the payload in or on the housing of the second aircraft device.

27. The system according to claim 26, wherein the loading module of the second aircraft device is a robotic manipulator or grip configured to operate under the control of the control device and to grasp the payload transferred to the second aircraft device, enabling the placement of the payload in or on the housing of the second aircraft device.

28. The system according to claim 26, wherein the loading module is a pull-in device configured to operate under the control of the control device and act on the payload transferred to the second aircraft device, enabling the placement of the payload in or on the housing of the second aircraft device.

29. The system according to claim 1, wherein at least two of the docking guides are arranged parallel to each other, perpendicular to each other, or at a predetermined angle to each other.

30. The system according to claim 1, wherein at least one of the docking guides is installed on a rotating device provided on the second aircraft device, enabling the rotation of the at least one docking guide at a predetermined rotation angle.

31. The system according to claim 1, wherein at least one of the docking guides is rotatably mounted on the housing of the second aircraft device, and the housing further comprises a drive device configured to be operably coupled to the at least one docking guide or to interact with the at least one docking guide to allow the at least one docking guide to rotate by a predetermined angle.

32. The system according to claim 1, wherein at least one of the docking guides is configured to be retractable, and the housing of the second aircraft device further comprises a drive device, the drive device operating under the control of the control device and configured to be operably coupled to or to interact with the at least one docking guide to allow at least partial extension of the at least one docking guide.

33. The aircraft apparatus according to claim 32, wherein the control device is further configured to present control commands to the drive device in order to enable at least partial retraction of the extended docking guide.

34. The system according to claim 1, wherein the housing of the second aircraft device is configured to tilt or rotate by a predetermined angle with respect to at least one of the docking guides.

35. The system according to claim 1, wherein the housing of the second aircraft device is configured to change the shape and / or dimensions of the housing under the control of the control device when docking between the at least one first aircraft device and the at least one second aircraft device by the docking guide.

36. The system according to claim 1, wherein at least one of the docking guides is bendable or flexibly configured at least partially.

37. The system according to claim 1, wherein at least one of the docking guides is configured to be linear or curved.

38. The system according to claim 1, wherein at least one of the docking guides is configured to allow movement of the payload along the docking guide along at least one of the three coordinate axes, or is configured to move relative to the housing of the second aircraft device in order to allow movement of the payload mounted on the at least one docking guide relative to the housing of the second aircraft device.

39. The system according to claim 1, wherein at least one of the docking guides comprises two or more portions, at least one of which is configured to be movable, and the housing of the second aircraft device further comprises a drive device which operates under the control of the control device and is operably coupled to at least one of the movable portions of the docking guide to allow the movable portion to move relative to the rest of the docking guide in order to change the shape of the at least one docking guide.

40. The system according to claim 26, wherein the housing of the second aircraft device further comprises one or more weight sensors, each of which is configured to measure the weight of the payload at one of the locations of the housing for accommodating the payload, and is configured to present the reading of the weight sensor to the control device, the control device enabling the control device to present a control command to the loading module for accommodating the payload in or on the housing in accordance with the reading of the weight sensor.

41. The system according to any one of claims 26, 27, and 40, wherein the loading module is mounted on at least one additional housing guide of the second aircraft device so as to move along the housing guide, thereby enabling the movement of the payload relative to the housing of the second aircraft device.

42. The system according to claim 1, wherein at least one of the docking guides comprises a docking module configured to detachably connect the at least one docking guide to a housing of the first aircraft device having a payload.

43. The system according to claim 1, wherein at least one of the docking guides further comprises a gripping mechanism configured to grip the payload in order to enable the placement or suspension of the gripped payload on at least one other docking guide of the docking guide or on the at least one docking guide having a gripping mechanism.

44. The system according to claim 43, wherein the gripping mechanism of the docking guide is configured to rotate to allow rotation of the gripped payload relative to the docking guide having the gripping mechanism.

45. The gripping mechanism of the docking guide is configured to move along the docking guide on which the gripping mechanism is installed in order to enable the movement of the gripped payload along the docking guide on which the payload is installed or suspended. The system according to claim 43.

46. A method for moving a payload, The steps of docking in mid-air at least one first aircraft device on which a payload is installed and at least one second aircraft device on which one or more docking guides are installed, using at least one docking guide under the control of a control device, A step of enabling the movement of the payload into the at least one second aircraft device along the at least one docking guide, A method comprising the step of enabling the transfer of the at least one docking guide to the at least one first aircraft device while the payload is being loaded onto the at least one second aircraft device.

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