Phased deployment of buoys and buoy networks

Abstract

Providing for a phased rollout of buoys and buoy networks. A system and method are disclosed for a modular buoy deployment system including modules arranged to be assembled at a destination location and an aerial delivery equipment arranged to deliver the buoy modules to the destination location. The modules are connectable to at least one other module and when assembled form a buoy (101). The modular buoy deployment system also optionally includes a platform (104) arranged to receive one or more aerial delivery equipment. Each module conforms to the delivery criteria of the aerial delivery equipment. The modular buoy deployment system also includes a power system arranged to recharge the aerial delivery equipment.

Description

[Technical field]

[0001] (Reference to Related Application) This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 613,291, filed January 3, 2018, and entitled "Incremental Deployment of a Buoy and / or Buoy Network," the entire contents of which are incorporated herein by reference. [Background technology]

[0002] (background) A buoy is a device configured to float within a body of water, such as an ocean. Buoys may serve a variety of purposes, including functioning as sea beacons, lifesaving buoys, undersea communication buoys, DAN buoys, navigation buoys, sonobuoys, surface marker buoys, decompression buoys, shot buoys, marine weather buoys, tsunami buoys, wave buoys, and the like. Buoys may be anchored (tethered) or allowed to drift within the body of water. Various techniques for deploying buoys are known. However, a need exists to enable more efficient, timely, and low-cost deployment of buoys. Summary of the Invention [Means for solving the problem]

[0003] Disclosed herein are systems and methods for more efficiently deploying one or more buoys. In one aspect, the buoy is arranged in multiple sections or modules that are connectable to one or more other modules of the buoy. The sections and / or modules may be configured and / or sized (and / or weighted) to allow a delivery vehicle, such as an unmanned aerial vehicle (UAV), to carry each section to a destination location for assembly of the buoy at the destination location. Other types of delivery vehicles or delivery devices may be used, such as, but not limited to, ground-based vehicles (e.g., autonomous automobiles or robots) or sea-based vehicles (e.g., AUVs). In the example of a water-based buoy, the delivery device may include multiple modes of motion including two or more combinations of land, water, and airborne mobile features or propulsion systems. In this manner, the buoy may be rapidly deployed over relatively long distances across a body of water (or across an area of ​​land, or both) by delivering and assembling various sections, modules, and components at desired locations. The buoy may be assembled to include a vehicle mooring, such as a platform, to allow a UAV, drone, or other aerial vehicle to land on the buoy. The buoy may include a generator and / or energy store to power the buoy's functions. The buoy may also include a power interface configured to provide power to a UAV, drone, aerial vehicle, or aquatic vehicle (e.g., a boat, an underwater vehicle (e.g., AUV), an unmanned surface vehicle (USV), etc.). Thus, in certain implementations, a network of buoys may propagate incrementally from one or more already deployed buoys. For example, once one buoy is deployed, assembled, and operational, one or more UAVs may then land on the buoy and recharge (or refuel). Parts, modules, and / or sections for additional buoys may be stored by the first buoy.The recharged UAV may then deliver parts to a new location for assembly of a new buoy, etc., and so on, enabling propagation of buoys throughout an area or region of the ocean and / or land.

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

[0005] In some implementations, the buoy includes a mooring system having a mooring line and a mooring element, a weight, and / or an anchor element. The mooring line may be delivered to the buoy in one or more sections. The mooring line may be configured to include one or more buoyancy elements. Each buoyancy element may be configured to be negatively buoyant at a specified depth within a body of water, such as saltwater or freshwater. In one implementation, the buoyancy element includes a bladder configured to collapse at a particular depth within saltwater. When the bladder collapses, the density of the bladder increases, causing the bladder to become negatively buoyant, thereby sinking the bladder along with adjacent elements along the mooring line. By including a series of spaced bladders along the mooring line, a relatively lightweight and buoyant mooring line may be staged on the ocean surface next to the buoy. One or more sections of the mooring line may be delivered to the buoy by a UAV. Other delivery devices may utilize AUVs, underwater drones, surface vehicles, USVs, and / or surface drones, etc. Once the mooring lines are connected to the buoy and staged next to the buoy, a mooring element (e.g., weight or anchor) can be attached to the free end of the mooring line. Once attached, the mooring element or weight (which is negatively buoyant) sinks and begins to pull the mooring line down, thereby pulling the adjacent bladder down until it collapses and becomes negatively buoyant, which in turn pulls the mooring line further down until, for example, the next bladder collapses at a depth that is reached, and so on until the mooring line and mooring weight sink to the ocean floor. Such a mooring system advantageously allows for delivery of a relatively lightweight mooring system to the buoy via one or more UAVs with relatively limited lift capacity, while allowing for sequential deployment of the mooring line and mooring weight or anchor to anchor the buoy to a particular location. In some examples, multiple trips can be performed to pre-stage one or more components of the buoy at the water surface before sinking the mooring weight and / or anchor.

[0006] In one aspect, multiple buoys are deployed in stages or in series, for example, by propagating the deployment and / or remote assembly of a second buoy from a first buoy, and so on. The process may be continually repeated until a network of buoys is deployed over a desired geographic area. Once a buoy is deployed and / or assembled and in operation, it may become a take-off point for deploying and assembling the next buoy at an additional location. Once a network of buoys is deployed, with each buoy having a platform positioned to allow landing of one or more UAVs, and each buoy providing a power source to recharge or refuel the UAVs, the network of buoys may be configured to provide a long-range delivery bridge, allowing the UAVs to extend their range several times, enabling delivery of long-range items over vast geographic distances via selected, possibly more innocuous routes. The UAVs may include drones and / or quadcopters. In certain implementations, the mooring and / or anchor chain is configured to be negatively buoyant below or at the sea surface or bottom, yet positively buoyant at the sea surface, but can be triggered to sink below the water surface with very small and / or additional weights.

[0007] In one aspect, a modular buoy deployment system includes a plurality of modules arranged to be assembled at a destination location, each of the plurality of modules connectable to at least one other of the plurality of modules. The plurality of modules are assembled to form a buoy. The system includes one or more assemblers arranged to position a portion of the plurality of modules at the destination location to form an assembled buoy. The system further includes a delivery device arranged to deliver the plurality of buoy modules to the destination location, the delivery of each of the plurality of modules conforming to a delivery criterion of the delivery device.

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

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

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

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

[0012] In yet another aspect, a mooring consisting of a connected float and weight is positively buoyant at the surface of the water and negatively buoyant at the bottom of the water and can be triggered to sink by either adding a weight to one end or detaching the end from a buoyant object. In one implementation, a mooring system includes a plurality of connected floats and weights that are positively buoyant at the surface of the water and negatively buoyant at a depth below the surface of the water. The system includes a trigger mechanism arranged to reduce the buoyancy of the portion of the connected floats and weights from positive to negative buoyancy, causing the portion of the connected floats and weights to sink below the surface of the water. The buoyancy of the portion of the connected floats and weights can be changed by either adding a weight to one end of the connected floats and weights or detaching the end from a buoyant element. Alternatively, the depth below the surface of the water can include a depth at or near the bottom of the water, or some intermediate depth between the surface of the water and the bottom of the water (or ocean). The trigger mechanism may include an assembler, assembly system, and / or robot configured to either add weights to or remove buoyancy elements from the ends of the connected float and weight. In some implementations, a buoy with or without a buoy-specific propulsion system, a USV, an ASV (autonomous surface vehicle), and / or an AUV (i.e., an offshore device) is configured to deploy to a location on and / or below the surface of the ocean (or other body of water) and use a mooring system included and / or embodied as described herein to deploy moorings and / or anchors to hold the device at a particular location. The offshore device may include one or more of the components described with respect to FIG. 2, including GPS, inertial, or other location systems, to determine a location for deploying moorings and / or anchors.

[0013] Other objects, features and advantages of the present invention will become apparent from the following detailed description considered in conjunction with the accompanying drawings. For example, the present application provides the following: (Item 1) 1. A modular buoy deployment system comprising: a plurality of modules arranged to be assembled at a destination location, each of the plurality of modules being connectable to at least one other of the plurality of modules, the plurality of modules being assembled to form a buoy; one or more assemblers arranged to position a portion of the plurality of modules at the destination location to form an assembled buoy; a delivery device arranged to deliver the plurality of buoy modules to the destination location, the delivery of each of the plurality of modules conforming to a delivery criterion of the delivery device; A system comprising: (Item 2) 2. The system of claim 1, wherein the buoy comprises a platform positioned to receive one or more delivery devices. (Item 3) 3. The system of claim 1 or 2, wherein the buoy includes a power system arranged to recharge the delivery device. (Item 4) The system of any one of claims 1 to 3, wherein the delivery equipment includes at least one of an air delivery device, a marine delivery device, and a ground-based delivery device. (Item 5) 5. The system of claim 4, wherein the delivery device includes at least one of a UAV, an AUV, and a USV. (Item 6) 6. The system of any one of claims 1 to 5, wherein each of the plurality of modules is configured to detect at least one other module of the plurality of modules. (Item 7) 7. The system of claim 6, wherein each of the plurality of modules is configured to attach to the detected at least one other module of the plurality of modules. (Item 8) 8. The system of any one of items 1 to 7, wherein the delivery device includes the one or more assemblers and is configured to autonomously assemble the buoy. (Item 9) The system according to any one of items 1 to 8, wherein the assembly system includes an assembly robot. (Item 10) 1. A modular unmanned aerial vehicle terminal, the terminal comprising: a plurality of modules assembled at a destination location, each of the plurality of modules connected to at least one other of the plurality of modules, each of the plurality of modules being transportable by an unmanned aerial vehicle (UAV); a platform including one or more of the plurality of modules and positioned to receive the UAV; a power source including one or more of the plurality of modules and arranged to charge a battery of the UAV; A terminal equipped with (Item 11) 11. The terminal of claim 10, wherein each of the plurality of modules is configured to detect at least one other of the plurality of modules. (Item 12) Item 12. The terminal of item 11, wherein each of the plurality of modules is configured to attach to the detected at least one other module of the plurality of modules. (Item 13) 13. The terminal of any one of items 10 to 12, further comprising an assembly system at the destination location configured to autonomously assemble the buoy. (Item 14) Item 14. The terminal of item 13, wherein the assembly system comprises an assembly robot. (Item 15) 15. The terminal of any one of claims 10 to 14, wherein each of the plurality of modules is sized to enable the UAV to carry each module. (Item 16) 16. The terminal of any one of items 10 to 15, wherein the power source includes a generator and an energy store. (Item 17) The terminal of any one of items 10 to 16, wherein the power source includes a power interface configured to charge the battery of the UAV. (Item 18) 18. The terminal according to any one of items 10 to 17, wherein the terminal is at least one of water-based and land-based. (Item 19) 1. A method for deploying a network of UAV terminals, the method comprising: A. assembling a first plurality of modules at a first location to form a first UAV terminal, the first UAV terminal including a platform positioned to receive one or more UAVs; B. Deploying a first UAV from the platform of the first UAV terminal to a second location remote from the first location, the first UAV delivering one or more UAV terminal modules to the second location; C. assembling a second plurality of modules at the second location to form a second UAV terminal, the second UAV terminal including a platform positioned to receive one or more UAVs; repeating steps AC until a network of UAV terminals is deployed across a geographical region, wherein the second UAV terminal from a previous sequence of steps AC is designated as the first UAV terminal for a next sequence of steps AC; A method comprising: (Item 20) 1. A berthing system, comprising: a plurality of connected floats and sinkers that are positively buoyant at the water surface and negatively buoyant at a depth below said water surface; a trigger mechanism arranged to reduce the buoyancy of the portion of the connected float and weight from a positive buoyancy to a negative buoyancy to cause the portion of the connected float and weight to sink below the water surface, the trigger mechanism changing the buoyancy of the portion of the connected float and weight by either adding a weight to one end or by decoupling the one end from a buoyancy element; and A system comprising: [Brief description of the drawings]

[0014] BRIEF DESCRIPTION OF THE DRAWINGS The systems and methods described herein are set forth in the appended claims, but for purposes of explanation, certain illustrative aspects are set forth in the accompanying drawings.

[0015] [Figure 1] FIG. 1 is a diagram depicting an exemplary buoy that includes a platform that allows for the landing of a UAV.

[0016] [Diagram 2] FIG. 2 is a block diagram of functional elements of an example buoy for implementing at least some of the systems and methods described in this disclosure.

[0017] [Diagram 3] FIG. 3 depicts a modular or sectioned buoy in accordance with an aspect of the present disclosure.

[0018] [Figure 4A]4A, 4B and 4C depict the sequence involved in deploying the mooring lines and mooring elements. [Figure 4B] 4A, 4B and 4C depict the sequence involved in deploying the mooring lines and mooring elements. [Figure 4C] 4A, 4B and 4C depict the sequence involved in deploying the mooring lines and mooring elements.

[0019] [Diagram 5] FIG. 5 depicts a diagram showing an array of deployed buoys according to aspects of the present disclosure.

[0020] [Figure 6] FIG. 6 is an exemplary process by which a buoy may be efficiently deployed. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] (explanation) Certain illustrative aspects are described herein to provide a comprehensive understanding of the present invention, however, it will be understood by those skilled in the art that the systems and methods described herein may be adapted and modified for other suitable applications, and such other additions and modifications do not depart from the scope of the present specification.

[0022] Systems and methods are described herein for incrementally deployable buoys and / or buoy networks.

[0023] FIG. 1 is a diagram 100 depicting an exemplary buoy 101 including a platform 104 that allows for the landing of a UAV 114. The buoy 101 may include a housing 102, a mooring line 108, and an anchoring element 106. When deployed, the anchoring element 106 may rest on the seabed 112. The buoy 101 may be positioned (i.e., floating) in a body of water 110, for example, the ocean. The platform 104 may be configured to support one or more UAVs 114 and / or other air vehicles. As described later in this specification, the buoy 101 may include a generator capable of recharging the UAV 114 via an attachable / detachable electrical / mechanical connection or via inductive wireless (proximity) charging. The UAV 114 may be a quadcopter. The size, range, and lift capacity of the UAV 114 may vary. The size, range, and lift capacity may depend on the size of the platform 104 and the power transmission capacity of the buoy 101. In some implementations, the buoy 101 may be untethered. In some implementations, the buoy 101 may include a propulsion system. The buoy 101 and / or the buoy housing 102 may be configured to be removably connectable with various buoy components to enable delivery of sections, components, and / or modules to a destination location for assembly and deployment of the buoy 101. In this manner, one or more UAVs 114 may be configured to deliver relatively light sections (i.e., sections within the lift / range tolerance of the UAV 114) for subsequent assembly at the destination. The delivery of each of the multiple modules may conform to delivery criteria of the aerial delivery equipment. For example, certain modules may be delivered in a predetermined sequence. For example, the power generation module 206, the mooring element 202, the assembler 220, and / or the propulsion module 204 may be delivered first or earlier in the sequence to allow the buoy 101 to maintain a more stable position before other modules are delivered and assembled or combined with already delivered modules.In situations where an initial determination of environmental conditions has a higher priority, the sensor module 210 and / or the communication module 208 may be delivered first or earlier in the delivery sequence. Thus, the delivery criteria, including the sequence of delivery and / or assembly of the modules of the buoy 101, may depend on environmental conditions, strategic conditions, power requirements, the payload carrying capabilities of the UVA, etc. The assembler may be detachable and reattachable to a delivery device, such as a UAV. In some examples, the UAV may deploy the assembler at a destination location to allow assembly of modules, leave the destination location to obtain additional modules, and then return with the additional modules. At some point after assembly of the buoy is complete, the assembler may be reattached to the delivery device. In this manner, the same assembler may be used to assemble multiple buoys and / or terminals. Also, by removing the assembler during assembly, the delivery device may utilize less power while operating the delivery of other modules.

[0024] 2 is a block diagram 200 of example functional elements 202-218 of a buoy 101 for implementing at least some of the systems and methods described in this disclosure. The buoy 101 may include an anchoring system 202 configured to enable anchoring of the buoy to the ocean floor 112 via mooring lines 108 and anchoring elements 106. The buoy 101 may include a propulsion element or system 204 configured to steer the buoy 101. The propulsion system 204 may provide at least sufficient propulsive force to counteract tides in the ocean. The propulsion system 204 may operate in response to a processor, a GPS, and / or an inertial navigation system to maintain the buoy 101 at a designated location. The buoy 101 may include a generator 206. The generator 206 may include solar panels, wind turbines, behavior-based generators, energy storage (one or more batteries, one or more fuel cells, liquid fuel), chemical reactors, and / or nuclear reactors, etc. The generator may include energy storage and a charge and / or discharge controller (processor) for controlling, for example, the charging of the battery or the discharging of the battery while charging another device, such as the UAV 114.

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

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

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

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

[0029] The system 200 may include one or more sensors 210 configured to perform any number of operations. For example, the sensors 210 may include active and / or passive radars, active and / or passive sonars, optical sensors, radio signal antennas and / or interceptors, chemical sensors (detecting water composition), environmental sensors, atmospheric sensors, inertial sensors, thermal sensors, behavioral sensors, radiation sensors, etc. The system 200 may include a countermeasure system 212. The countermeasure system 212 may be configured to provide anti-personnel, anti-ship, anti-submarine, and anti-aircraft capabilities. The countermeasure system 212 may include a processor (as discussed above) arranged to control firearms to protect the buoy 101 from interference by divers or other persons. The system 212 may utilize one of more sensors to detect the presence of persons within a range proximate to the buoy 101 and accordingly activate firearms and / or a fire control system, if necessary. The system 212 may include a fire control function to deploy torpedoes or rockets against a detected threat, such as a surface or underwater vessel. The system 212 may deploy rockets, lasers, or other projectiles against an air vehicle detected as a threat. The system 212 may provide detection information to the system 208 to enable the buoy 101 to communicate warnings of detected threats as a possible early warning system. The system 212 may include a quadcopter with a minigun or claymore mines for pirate neutralization. The system 212 may include a vehicle mooring system to enable the buoy 101 to moor with another vehicle, such as a boat, ship, AUV, and / or UAV. For example, the platform 104 is a type of mooring feature by allowing a UAV to land on the buoy 101. The platform 104 may include electrical / mechanical connections to hold the UAV in place after landing, which may be advantageous in rough seas. Once in proximity to the buoy 101, the UAV may exchange data with the buoy 101 via a wireless data connection such as 802.11 or Bluetooth.The UAV may utilize other types of wireless and / or RF communications to communicate with the buoy 101.

[0030] The system 200 may include payload storage 218. The payload storage 218 may store items such as modules for other buoys 101, items for delivery to other destinations, test equipment for deployment by the buoy, or supplies (explosives). In some implementations, the buoy may function as an anti-ship or anti-submarine torpedo, in which case the payload storage 218 may store explosives. The buoy 101 may be configured to dive to a specified depth to perform a particular test or to function as an anti-ship or anti-submarine torpedo. The buoy 101 may be configured to surface in response to a received command or periodically.

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

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

[0033] Alternatively, the assembler 220 may be included as part of an assembler vehicle. The assembler vehicle may be deployed to a destination location. When at that location, one or more UAVs 114 deliver the modules for the buoy 300. The assembler may include a platform or storage container to protect the modules during assembly of the buoy 300. This approach may be advantageous in rough seas. Once assembly is complete, the assembler vehicle launches the buoy at the destination and then travels to the next destination location. Another advantage of this technique is that the assembler vehicle saves power (and may be deployed longer) since it is required to transport the buoy components to the destination. In addition to the housing components, one or more UAVs may deliver the modules 302 that include the functional elements 202-220. The mooring lines 108 may also be delivered in sections 108a, 108b, and 108c and assembled by the assembler 220 and / or another UAV 114.

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

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

[0036] FIG. 5 depicts a diagram 500 showing the placement of deployed buoys 101 according to aspects of the disclosure. FIG. 5 illustrates the deployment of a network of buoys 504-520 from a ship 502. However, the deployment may be initiated from ground, ship, air vehicle, submarine, and / or a combination of sources. Arrows 524-546 illustrate possible deployment flight paths of a UAV 114 to a destination where the buoys 504-520 may be located. However, the illustrated path may be traversed in either direction by the UAV 114. FIG. 5 also illustrates how the buoys may propagate in multiple directions, including from the source 502 to the first buoy 504 and then to the buoy 520, and so on (deployed in stages). Such propagation may enable the deployment of torpedo fields in a geographic region, the deployment of underwater acoustic sensor arrays, the deployment of air defense (radar) arrays, the deployment of delivery bridges for items from one location to another, the deployment of cellular telephone networks across bodies of water (where each buoy includes a base station transceiver), etc. Such propagation processes may be performed in space and / or in other environments, such as for deploying terminal networks on the surfaces of planets, e.g., Mars or other stars having non-aqueous fluid regions (e.g., the methane lakes of Titan).

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

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

[0039] The process 600 continues by delivering the secondary module to a destination location (step 604). For example, a second portion (eg, 102c) of the housing 102 may be delivered to the destination.

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

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

[0042] While the examples herein describe systems and methods related to buoys and buoy networks, the techniques described herein may be applied to ground or space-based transportation networks as well, including a ground-based UAV terminal network operating with or without a buoy network. For example, a ground-based UAV terminal network may be deployed between Anchorage, Alaska and Eagle, Alaska (a remote town). The network of UAV terminals may enable efficient delivery of payloads (e.g., USmail) to and from Eagle, Alaska, minimizing the risk of manned flights. In another example, a buoy network may enable delivery and return of payloads between Fort Randall, Alaska and Attu, Alaska, an Attu Island in the Bering Sea.

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

[0044] Optionally, the system may include an inertial navigation system, a Doppler sensor, an altimeter, a gimbling system for fixing the sensor to a collection of portions of the holographic map, a Global Positioning System (GPS), a Long Baseline (LBL) navigation system, a Very Short Baseline (USBL) navigation, or any other suitable navigation system.

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

[0046] Accordingly, the invention is not to be limited to the aspects disclosed herein, but should be understood from the following claims, which claims should be interpreted as broadly as permitted under law.

Claims

1. 1. A berthing system, comprising: a plurality of connected buoyancy elements (402, 404, 406) that are positively buoyant at the water surface and negatively buoyant at a depth below the water surface; an assembler (220) configured to reduce the buoyancy of a portion of the plurality of connected buoyant elements (402, 404, 406) from positive buoyancy to negative buoyancy, thereby causing the portion of the plurality of connected buoyant elements (402, 404, 406) to sink below the water surface, the assembler (220) changing the buoyancy of the portion of the plurality of connected buoyant elements by adding an anchoring element (106, 408) to one end of the plurality of connected buoyant elements; Equipped with Each of the plurality of connected buoyancy elements (402, 404, 406) includes a bladder configured to collapse at a particular depth below the water surface.

2. 2. The mooring system of claim 1, wherein the bladder is 0.5 kg or less, or 1 kg or less, or 1.5 kg or less, or 2 kg or less, or 5 kg or less, or 10 kg or less.

3. The mooring system of claim 1 , wherein the mooring element (106, 408) comprises a material having a higher density than the surrounding body of water.

4. 4. The mooring system of claim 3, wherein the mooring element (106, 408) is 0.5Kg or less, or 1Kg or less, or 1.5Kg or less, or 2Kg or less, or 5Kg or less, or 10Kg or less, or 50Kg or less, or 100Kg or less, or 1000Kg or less.

5. 1. A method of deploying an anchorage system, the method comprising: positioning a plurality of connected buoyancy elements (402, 404, 406) at a water surface, the plurality of connected buoyancy elements being positively buoyant at the water surface and negatively buoyant at a particular depth below the water surface, each of the plurality of connected buoyancy elements (402, 404, 406) including a bladder configured to collapse at the particular depth; using an assembler (202) to reduce the buoyancy of a portion of the plurality of connected buoyant elements (402, 404, 406) from positive buoyancy to negative buoyancy, thereby causing the portion of the plurality of connected buoyant elements (402, 404, 406) to sink below the water surface; varying, by the assembler (202), the buoyancy of the portion of the plurality of connected buoyant elements, the varying being accomplished by adding an anchoring element (106, 408) to one end of the plurality of connected buoyant elements; A method comprising:

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