Mobile docking station for unmanned aerial vehicles

Abstract

A mobile station (102) designed for unmanned aerial vehicles (UAVs) includes multiple docks for accommodating and refilling the UAVs, a charge interface for providing power for charging, and a media interface for supplying crop media. The mobile circuitry, equipped with one or more processors, is programmed to establish a connection with a UAV, determine the UAV's current position, assign a dock from the plurality of docks, calculate a return path to the assigned dock based on the station's location, the assigned dock, and the UAV's current position, instruct the assigned dock to load the UAV's hopper with crop media, and instruct the assigned dock to charge the UAV.

Description

MOBILE DOCKING STATION FOR UNMANNED AERIAL VEHICLESFIELD

[0001] The field to which the disclosure relates to a mobile docking station for unmanned aerial vehicles (UAVs) and to agriculture applications.BACKGROUND

[0002] A wide variety of crops are produced using agriculture for food production, animal feed, industrial uses, economic value, environmental benefits and more. These crops can include cereal crops, wheat, rice, com, barley, legumes, soybeans, chickpeas, root crops, tuber crops, potatoes and more.

[0003] An important aspect crop production is efficiency and productivity.

[0004] Some techniques to improve efficiency and productivity include application of fertilizer and / or pesticides to crops and fields.

[0005] Traditionally techniques involve manual labor to apply fertilizers and pesticides. These techniques consume significant manual resources to apply properly.

[0006] What is needed are techniques to apply fertilizers and pesticides more efficiently.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Fig. 1 is a diagram illustrating a mobile docking system 100 in accordance with one or more embodiments.

[0008] Fig. 2 is a diagram illustrating an unmanned autonomous vehicle (UAV) 202 in accordance with one or more embodiments.

[0009] Fig. 3 is a diagram illustrating a mobile docking system 300 for unmanned autonomous vehicles (UAVs) in accordance with one or more embodiments.

[0010] Fig. 4 is a diagram illustrating a docking station of the docks 104 for unmanned autonomous vehicles (UAVs) in accordance with one or more embodiments.

[0011] Fig. 5 is a diagram illustrating a mobile station circuitry / controller 412 in accordance with one or more embodiments.

[0012] Fig. 6 is a flow diagram illustrating a method 600 for refilling and refueling UAVs in accordance with one or more embodiments.

[0013] Fig. 7 is a diagram illustrating a mobile docking system 700 in accordance with one or more embodiments.DETAILED DESCRIPTION

[0014] The following description of the variations is merely illustrative in nature and is in no way intended to limit the scope of the disclosure, its application, or uses. The description is presented herein solely for the purpose of illustrating the various embodiments of the disclosure and should not be construed as a limitation to the scope and applicability of the disclosure. In the summary of the disclosure and this detailed description, each numerical value should be read once as modified by the term “about” (unless already expressly so modified), and then read again as not so modified unless otherwise indicated in context. Also, in the summary of the disclosure and this detailed description, with the understanding that a value range listed or described as being useful, suitable, or the like, is intended that any and every value within the range, including the end points, is to be considered as having been stated. For example, “a range of from 1 to 10” is to be read as indicating each and every possible number along the continuum between about 1 and about 10. Thus, even if specific data points within the range, or even no data points within the range, are explicitly identified or refer to only a few specific data points, it is to be understood that inventors appreciate and understand that any and all data points within the range are to be considered to have been specified, and that inventors had possession of the entire range and all points within the range.

[0015] Unless expressly stated to the contrary, "or" refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).

[0016] In addition, use of the "a" or "an" are employed to describe elements and components of the embodiments herein. This is done merely for convenience and to give a general sense of concepts according to the disclosure. This description should be read to include one or at least one, and the singular also includes the plural unless otherwise stated.

[0017] The terminology and phraseology used herein is for descriptive purposes and should not be construed as limiting in scope. Language such as "including", "comprising", "having", "containing", or "involving", and variations thereof, is intended to be broad and encompass the subject matter listed thereafter, equivalents, and additional subject matter not recited.

[0018] Also, as used herein, any references to "one embodiment" or "an embodiment" means that a particular element, feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily referring to the same embodiment.

[0019] Previous approaches to providing mobile stations for unmanned aerial vehicles (UAVs) have typically focused on stationary charging stations or manual refilling stations for UAVs. These stationary charging stations require UAVs to return to a fixed location for recharging, limiting the operational range and efficiency of the UAVs. Manual refilling stations involve human intervention to refill the UAVs with crop media and charge them, which can be time-consuming and labor-intensive, especially in large- scale agricultural operations.

[0020] Some existing systems utilize separate charging stations and crop media loading stations, requiring UAVs to visit multiple locations for refilling and recharging.This approach can lead to inefficiencies in UAV operations, as well as increased downtime and reduced productivity due to the need for multiple stops during a mission.

[0021] Other solutions have attempted to automate the process of refilling and recharging UAVs by integrating charging and crop media loading functions into a single station. However, these systems often lack the ability to dynamically assign docks to UAVs based on their current position and operational needs, resulting in suboptimal routing and resource allocation.

[0022] However, none of these approaches have provided a comprehensive solution that combines the features described in this disclosure.

[0023] Agriculture involves the use of generation various crops for consumption, industrial purposes and the like. The types of crops generated include, for example, cereal crops such as wheat and rice; oilseed crops such as soybeans; leguminous crops such as beans, peas and lentils; tuber crops such as beets, turnips and potatoes; fruit crops such as apples, oranges, bananas, and berries; industrial crops such as cotton; and the like.

[0024] Crop productivity is facilitated by productivity factors such as crop monitoring, disease detection, disease mitigation, pest detection, pest mitigation, yield monitoring.

[0025] Unmanned autonomous vehicles (UAVs) can be used to enhance crop productivity by incorporating sensors (cameras) for monitoring, measuring and detecting or performing the productivity factors. Further, UAVs can perform crop spraying or dusting to perform pest mitigation and disease mitigation.

[0026] However, UAVs have limited fuel or energy capacity and limited spraying / dusting capacity.

[0027] One or more embodiments are disclosed that include a mobile docking station where UAVs can refill fuel, energy, spraying and dusting.

[0028] Fig. 1 is a diagram illustrating a mobile docking system 100 in accordance with one or more embodiments. The system is provided for illustrative purposes and suitable variations are contemplated.

[0029] The system 100 includes a mobile station (mobile docking station) 102 and a media supply device 106.

[0030] The supply device 106 can incorporate wheels or tracks to permit movement. The supply device can be towable and / or self powered.

[0031] The supply device 106 can also be integrated with the mobile station 102.

[0032] The supply device 106 can include one or more power / energy sources such as batteries, generators, solar panels, windmills, engine, auxiliary generator and the like. Additionally, the supply device 106 can include various crop media such as solutions, chemicals, fertilizers, herbicides, fungicides, pesticides and the like.

[0033] The mobile station 102 can incorporate wheels or tracks to permit movement. The mobile station 102 can be towable and / or self powered.

[0034] The mobile station 102 includes a plurality of docks 104. Each dock 104 includes a fuel and / or power interface 404 and / or a media refill interface 410 and a landing pad 406. Fuel or power can be provided by the interface 404 and the crop media is provided by the media interface 410.

[0035] In one example, the docks 104 include a rectangular shaped housing with nozzles as the media interface 410 positioned on an upper surface and electrical charging ports as the power interface 404 positioned on a lower surface. The landing pad 406 is positioned on the lower surface of the housing.

[0036] In another example, the docks 104 include a retractable roof to facilitate docking of a UAV.

[0037] In another example, the mobile station 102 includes only a single dock 104. In this example, the mobile station 102 could travel based on the location of a single drone.

[0038] Fig. 2 is a diagram illustrating an unmanned autonomous vehicle (UAV) 202 in accordance with one or more embodiments. The vehicle is provided for illustrative purposes and suitable variations are contemplated.

[0039] The UAV 202 can be used with the system 100.

[0040] The UAV 202 is configured to perform crop maintenance and monitoring and includes a hopper / tank 204 for the crop media, a power connection, and the like. The UAV is configured to determine remaining power / fuel capacity and remaining media capacity 202.

[0041] The UAV 202 is directed to return to the mobile station 102 and an assigned dock by system 100 for refilling of media, recharging, refueling, storage, and the like.

[0042] The refilling of media can include adding mixture or fluid to the hopper 204, swapping the hopper 204 for a filled hopper, and the like.

[0043] The hopper 204 is configured to store one or more media by using one or more reservoirs and includes the ability to mix according to a selected mix ratio. The hopper 204 is located in a suitable position with respect the UAV 202, such as below a central portion.

[0044] The UAV 202 includes one or more suitable power sources including fuel tank, battery, lithium polymer battery, lithium ion battery, and the like.

[0045] Fig. 3 is a diagram illustrating a mobile docking system 300 for unmanned autonomous vehicles (UAVs) in accordance with one or more embodiments. The vehicle is provided for illustrative purposes and suitable variations are contemplated.

[0046] The system 300 can be used as or with the system 100 described above.

[0047] The system 300 includes the mobile station 102, plurality of docks 104, supply device 106 and a plurality of UAVs 202.

[0048] A plurality of UAVs 202 can be referred to as a swarm 308.

[0049] The UAVs 202 operate in a variety of states including, but not limited to, off state, recharging state, refilling state, media dispensing state, and the like.

[0050] Additionally, the swarm 308 can operate collectively in a variety of states including, but not limited to, off state, recharging state, refilling state, media dispensing state, and the like.

[0051] The mobile station 102 can determine or select one or more UAVs of the swarm 308 for refilling. One technique is to monitor the swarm 308 and remaining media of each UAV and generate a refill queue to process / refill one or more of the swarm 308.

[0052] The mobile station 102 can generate a recharge queue by monitoring the swarm and remaining power or charge of the swarm 308 and generate a recharge queue to recharge the UAVs according to the recharge queue. One technique includes replacing a battery of the UAV with a fully charged battery. Another technique includes charging an onboard battery. These techniques include, but are not limited to; radio frequency (RF) communication (including Bluetooth, Wi-Fi, Zigbee, RFID, and the like), infra red (IR) communication, near field communication (NFC), cellular communications (4G LTE, 5G, 3G, and the like), satellite communication, and visible light communications (VLC).

[0053] Various suitable connection techniques are used for communication between the UAVs and the mobile station 102.

[0054] Fig. 4 is a diagram illustrating a docking station of the docks 104 for unmanned autonomous vehicles (UAVs) in accordance with one or more embodiments. The vehicle is provided for illustrative purposes and suitable variations are contemplated.

[0055] The docking station 104 includes a power / charge interface 402, a fuel / refuel interface 404, a landing pad 406, a liquid / solution (water or chemical based solution) 408, crop media 410 and mobile station circuitry and / or controller 412.

[0056] The circuitry 412 is configured to perform various operations of the mobile station including, but not limited to, providing the station location, generating return paths for the UAVs 308, calling back the UAVs, generating and providing crop dusting mapping, areas for crop dusting, areas to avoid to mitigate pollution, areas to monitor, media refill, power recharge, fuel refill, and the like.

[0057] Fig. 5 is a diagram illustrating a mobile station circuitry / controller 412 in accordance with one or more embodiments. The system is provided for illustrative purposes and suitable variations are contemplated.

[0058] The circuitry 412 can be used with the system 100, the system 400 and suitable variations thereof.

[0059] The circuitry 412 includes one or more processors 502, memory 504, transceiver(s) 506, positioning system 508, location detection 510, sensor(s) 512 and an interface 514.

[0060] The circuitry 412 can be specific for each dock 104 and / or operate a plurality of docks.

[0061] The positioning system 508 tracks a current position of the mobile station 102 and / or the UAVs 308. In one example, positioning system 508 is a global positioning system (GPS) that incorporates satellite based navigation and provides location and time information. The system 508 can include a GPS receiver. The positioning system 508 can also incorporate triangulation to determine positioning.

[0062] The location detection 510 detects various objects including fields, crop locations, trees, towers and the like. The location detection 510 can also detect positions of the UAVs 308. The location detection 510 includes radio detection and ranging (RADAR); and incorporates transmitter, receiver antenna to emit waves anddetect reflected waves to detect position information. The location detection 510 can also incorporate light detection and ranging (LiDAR) using light waves to detect position information.

[0063] The sensors 512 include cameras, light sensors, environment sensors, temperature sensors, humidity sensors, pressure sensors, barometric pressure sensors and the like.

[0064] The interface 514 facilitates communication with other circuitry and external devices or stations.

[0065] The transceiver 506 establishes communication with the UAVs 308. The transceiver 506 can include near field communication (NFC) to provide precise location of the landing pad 406 and facilitate directing or navigating the UAVs 308 to the plurality of docks 104 and their landing pads 406.

[0066] The one or more processors 502 are coupled to memory 504, transceiver 506, positioning system 508, location detection 510, sensor(s) 512 and interface 514.

[0067] The one or more processors 502 are configured to perform various operations of the mobile station including, but not limited to, providing the station location, generating return paths for the UAVs 308, calling back the UAVs, generating and providing crop dusting mapping, areas for crop dusting, areas to avoid to mitigate pollution, areas to monitor, media refill, power recharge, fuel refill, and the like.

[0068] Additionally, the one or more processors 502 are configured to communicate with the UAVs, assign docking stations 404 to UAVs 308, and the like.

[0069] The one or more processors 502 are configured to analyze a topography of fields for crop dusting. The fields and / or areas are divided into navigable and unnavigable area ahead of time, which can facilitate generation of return paths. The docking station 102 can be directed to move to a central location or selected location based on locations of the swarm 308. The regions can be updated periodically or in realtime based on environmental conditions such as weather conditions, soil moisture and the like.

[0070] Flight missions for the swarm 308 can be programmed in advance.

[0071] The one or more processors are further configured manage or perform the charging of docked UAVs batteries. This includes rapid charging at rates exceeding 2 amps and lower charging at rates at or below 2 amps. The temperature and voltage of the battery during charging is monitored.

[0072] Fig. 6 is a flow diagram illustrating a method 600 for refilling and / or refueling UAVs in accordance with one or more embodiments. The method 600 is provided for illustrative purposes and suitable variations are contemplated.

[0073] The method can be performed with the system 100, the system 400, and / or suitable variations thereof.

[0074] The mobile station 102 or circuitry 412 establishes communication with a UAV 202 at block 602.

[0075] The mobile station 102 or circuitry 412 determines whether the UAV 202 has a low supply of crop media and / or fuel / power at block 604.

[0076] If the UAV 202 is low, the UAV can provide its location at block 606 and the circuitry 412 assigns the UAV 202 to an assigned docking station of the plurality of docking stations 104 and generates a return path to the UAV 202. The circuitry 412 also determines its location and object(s) to avoid for generating the return path.

[0077] The UAV 202 lands at the assigned docking station and refills at block 608. The docking station can fill the hopper 204 via the media interface 410, refuel via the fuel interface 404 and recharge via the charge interface 402. Further, the docking station can swap an empty hopper for a full hopper.

[0078] It is appreciated that the method 600 and / or system 100 can be used for other applications beyond agricultural uses. These include, for example, industrialinspection (for construction, utility, oil and gas); firefighting; mining; search and rescue; environmental monitoring and environmental conservation.

[0079] Fig. 7 is a diagram illustrating a mobile docking system 700 in accordance with one or more embodiments. The system is provided for illustrative purposes and suitable variations are contemplated.

[0080] The system 700 can be used with and / or in conjunction with system 100.

[0081] In this example, there are a plurality of supply devices 106 using a tree like structure to supply media to the docks 104. The supply devices 106 are supported on a lower platform 712.

[0082] Tracks and / or the like 714 facilitate movement of the mobile station 102.

[0083] An upper deck 710 includes the docks 104 and permits landing and interaction with UAVs.

[0084] The mobile station 102 includes a plurality of docks 104. Each dock 104 includes a fuel or power interface 404 and a media refill interface 410 and a landing pad 406. Fuel or power can be provided by the interface 404 and the crop media is provided by the media interface 410.

[0085] The foregoing description of the embodiments has been provided for purposes of illustration and description. Example embodiments are provided so that this disclosure will be sufficiently thorough and will convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the disclosure but are not intended to be exhaustive or to limit the disclosure. It will be appreciated that it is within the scope of the disclosure that individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departurefrom the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

[0086] Also, in some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail. Further, it will be readily apparent to those of skill in the art that in the design, manufacture, and operation of apparatus to achieve that described in the disclosure, variations in apparatus design, construction, condition, erosion of components, gaps between components may present, for example.

[0087] Examples can include subject matter such as a method, means for performing acts or blocks of the method, at least one machine-readable medium including instructions that, when performed by a machine cause the machine to perform acts of the method or of an apparatus or system for concurrent communication using multiple communication technologies according to embodiments and examples described herein.

[0088] As used herein, the term "circuitry" may refer to, be part of, or include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group), and / or memory (shared, dedicated, or group) that execute one or more software or firmware programs, a combinational logic circuit, and / or other suitable hardware components that provide the described functionality. In some embodiments, the circuitry may be implemented in, or functions associated with the circuitry may be implemented by, one or more software or firmware modules. In some embodiments, circuitry may include logic, at least partially operable in hardware.

[0089] As it is employed in the subject specification, the term “processor” can refer to substantially any computing processing unit or device including, but not limited to including, single-core processors; single-processors with software multithread execution capability; multi-core processors; multi-core processors with software multithread execution capability; multi-core processors with hardware multithread technology; parallel platforms; and parallel platforms with distributed shared memory. Additionally, a processor can refer to an integrated circuit, an Application SpecificIntegrated Circuit, a Digital Signal Processor, a Field Programmable Gate Array, a Programmable Logic Controller, a Complex Programmable Logic Device, a discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions and / or processes described herein. Processors can exploit nano-scale architectures such as, but not limited to, molecular and quantum-dot based transistors, switches and gates, in order to optimize space usage or enhance performance of mobile devices. A processor may also be implemented as a combination of computing processing units.

[0090] Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first", "second", and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.

[0091] Spatially relative terms, such as "inner", “adjacent”, "outer", "beneath", "below", "lower", "above", "upper", and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the example term "below" can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0092] In some aspects, the techniques described herein relate to a mobile station for unmanned aerial vehicles (UAVs) including: a plurality of docks 104 for housing and refilling the UAVs; a charge interface 402 for supplying power for charging; a media interface 410 for supplying crop media; and mobile circuitry 412 including one or more processors 502 configured to: establish connection with a UAV; generate current position of the UAV; assign a dock of the plurality of docks; generate a return path to the assigned dock based on a station location, the assigned dock and the generated current position of the UAV; cause the assigned dock to fill a hopper of the UAV with crop media; and cause the assigned dock to charge the UAV.

[0093] In some aspects, the techniques described herein relate to a station, wherein the circuitry 412 further includes a memory 504, a transceiver 506, a positioning system 508, location detection 510, sensors 512 and interface 514.

[0094] In some aspects, the techniques described herein relate to a station, the positioning system 508 configured to locate the plurality of UAVs and the station using global positioning satellites (GPS).

[0095] In some aspects, the techniques described herein relate to a station, the transceiver 506 configured to use cellular communication and / or satellite communication.

[0096] In some aspects, the techniques described herein relate to a station, the one or more processors further configured to generate a refill queue prior to generate the return path.

[0097] In some aspects, the techniques described herein relate to a station, the one or more processors further configured to generate a recharge queue.

[0098] In some aspects, the techniques described herein relate to the station of claiml , the one or more processors configured to determine navigable regions.

[0099] In some aspects, the techniques described herein relate to a station, the one or more processors configured to determine a central location of a swarm 308 and direct the station to move to the central location.

[0100] In some aspects, the techniques described herein relate to a mobile system for agricultural spraying, the system including: a mobile station having a plurality of docks 104 for housing and refilling a plurality of unmanned aerial vehicles (UAVs); mobile circuitry including one or more processors configured to: determining mobile station location and a plurality of UAV locations; generating a plurality of return paths to the mobile station for the plurality of UAVs based on the determined mobile station location and the plurality of UAV locations; charging one or more of the plurality of UAVs; and refilling one or more of the plurality of UAVs.

[0101] Clause 1 . A mobile station for unmanned aerial vehicles (UAVs) comprising: a plurality of docks 104 for housing and refilling the UAVs; a charge interface 402 for supplying power for charging; a media interface 410 for supplying crop media; and mobile circuitry 412 comprising one or more processors 502 configured to: establish connection with a UAV; generate current position of the UAV; assign a dock of the plurality of docks; generate a return path to the assigned dock based on a station location, the assigned dock and the generated current position of the UAV; cause the assigned dock to fill a hopper of the UAV with crop media; and cause the assigned dock to charge the UAV.

[0102] Clause 2. The station of clause 1 , wherein the circuitry 412 further comprises a memory 504, a transceiver 506, a positioning system 508, location detection 510, sensors 512 and interface 514.

[0103] Clause 3. The station of clause 2, the positioning system 508 configured to locate the plurality of UAVs and the station using global positioning satellites (GPS).

[0104] Clause 4. The station of any one of clauses 1-3, the transceiver 506 configured to use cellular communication and / or satellite communication.

[0105] Clause 5. The station of any one of clauses 1-4, the one or more processors further configured to generate a refill queue prior to generate the return path.

[0106] Clause 6. The station of any one of clauses 1-5, the one or more processors further configured to generate a recharge queue.

[0107] Clause 7. The station of any one of clauses 1-6, the one or more processors configured to determine navigable regions.

[0108] Clause 8. The station of any one of clauses 1-7, the one or more processors configured to determine a central location of a swarm 308 and direct the station to move to the central location.

[0109] Clause 9. A mobile system for agricultural spraying, the system comprising: a mobile station having a plurality of docks 104 for housing and refilling a plurality of unmanned aerial vehicles (UAVs); mobile circuitry comprising one or more processors configured to: determining mobile station location and a plurality of UAV locations; generating a plurality of return paths to the mobile station for the plurality of UAVs based on the determined mobile station location and the plurality of UAV locations; charging one or more of the plurality of UAVs; and refilling one or more of the plurality of UAVs.

[0110] Although a few embodiments of the disclosure have been described in detail above, those of ordinary skill in the art will readily appreciate that many modifications are possible without materially departing from the teachings of this disclosure. Accordingly, such modifications are intended to be included within the scope of this disclosure as defined in the claims.

Claims

CLAIMSWhat is claimed is:1 . A mobile station for unmanned aerial vehicles (UAVs) comprising: one or more docks 104 for housing and refilling the UAVs; a charge interface 402 for supplying power for charging; a media interface 410 for supplying crop media; and mobile circuitry 412 comprising one or more processors 502 configured to: establish connection with a UAV; generate current position of the UAV; assign a dock of the plurality of docks; generate a return path to the assigned dock based on a station location, the assigned dock and the generated current position of the UAV; cause the assigned dock to fill a hopper of the UAV with crop media; and cause the assigned dock to charge the UAV.

2. The station of claim 1 , wherein the circuitry 412 further comprises a memory 504, a transceiver 506, a positioning system 508, location detection 510, sensors 512 and interface 514.

3. The station of claim 2, the positioning system 508 configured to locate the plurality of UAVs and the station using global positioning satellites (GPS).

4. The station of any one of claims 1-3, the transceiver 506 configured to use cellular communication and / or satellite communication.

5. The station of any one of claims 1-4, the one or more processors further configured to generate a refill queue prior to generate the return path.

6. The station of any one of claims 1-5, the one or more processors further configured to generate a recharge queue.

7. The station of any one of claims 1-6, the one or more processors configured to determine navigable regions.

8. The station of any one of claims 1-7, the one or more processors configured to determine a central location of a swarm 308 and direct the station to move to the central location.

9. The station of any one of claims 1-7, the one or more processors configured to determine a central location based on future positions of a swarm (308) and direct the station to move to the central location.

10. The station of any one of claims 1 -8, further comprising a supply device.11 . The station of any one of claims 9-10, wherein the supply device supplies one or more of crop media and / or power.

12. The station of any one of claims 9-11 , wherein the supply device comprises a plurality of supply devices.

13. The station of claim 12, further comprising a tree like media distribution structure to a deck (710) having the plurality of docks.

14. A mobile system for agricultural spraying, the system comprising: a mobile station having a plurality of docks 104 for housing and refilling a plurality of unmanned aerial vehicles (UAVs); mobile circuitry comprising one or more processors configured to: determining mobile station location and a plurality of UAV locations;generating a plurality of return paths to the mobile station for the plurality of UAVs based on the determined mobile station location and the plurality of UAV locations; charging one or more of the plurality of UAVs; and refilling one or more of the plurality of UAVs.

15. A method for assisting UAVs, the method comprising: establish communications with a UAV by circuitry (412); determine whether the UAV is low; provide mobile station location and docking station location to the UAV; generate a return path by the circuitry (412); and supply / fil I the UA at the docking station.

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