US20190389575A1 - Extended Duration Regenerative Powered Unmanned Aerial Vehicle (UAV) Platform - Google Patents

Abstract

An unmanned aerial vehicle (UAV) cluster includes a plurality of mission UAVs and a plurality of core UAVs arranged in a cluster. One or more of the mission UAVs is configured for controlled independent flight. The plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster.

Description

TECHNICAL FIELD
• The present disclosure relates generally to Unmanned Aerial Vehicles (UAVs), and more particularly to systems for creating and operating a cluster of individual UAVs to deliver a payload to a predefined destination.
BACKGROUND
• Companies are beginning to deliver products to their customers using Unmanned Aerial Vehicles (UAVs). In some cases, companies utilize a plurality of UAVs arranged in a cluster to deliver their products. These “clustered UAVs” are especially beneficial as they allow a company to distribute the products as “payloads” to various destination locations in an efficient and cost-effective manner. Examples of such payloads include, but are not limited to, packages, boxes, and bags, and may be of any shape, size, and weight, so long as the UAV cluster is able to carry them.
• Typically, consumers interact with a centralized market place to order and purchase the products that are eventually delivered as the payload to the desired destination locations. A UAV cluster is loaded with a payload at a warehouse and flown to the desired delivery location such as the customer's home or business. In some cases, individual UAVs can temporarily separate from the UAV cluster in-flight and deliver the payload before re-docking with the UAV cluster for a return flight.
• Current market trends are beginning to replace the centralized market place with a plurality of virtual online market places, each of which may or may not be associated with a corresponding warehouse. Therefore, customer orders can be filled at any given warehouse and flown to respective destination locations. While de-centralization is beneficial, these practices also increase the emphasis on delivering the payloads in a cost-effective manner.
BRIEF SUMMARY
• Aspects of the present disclosure relate to creating and operating an Unmanned Aerial Vehicle (UAV) cluster to carry and autonomously deliver one or more payloads to one or more predetermined destination locations.
• In one aspect, the present disclosure provides an unmanned aerial vehicle (UAV) cluster comprises a plurality of mission UAVs arranged in a cluster, with a set of one or more of the mission UAVs being configured for controlled independent flight. A plurality of core UAVs are distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster.
• In one aspect, each core UAV and each mission UAV in the UAV cluster is a same size and is congruent.
• In one aspect, one or both of a number and type of core UAVs to be distributed throughout the UAV cluster is selected based on the predefined mission characteristic.
• In one aspect, the predefined mission characteristic comprises one or more of a distance of a destination location from a launch location of the UAV cluster, a type of mission the set of one or more mission UAVs are configured to perform, a number of predetermined intermediate waypoints for the UAV cluster between the launch location of the UAV cluster and the destination location, and a load characteristic of a load carried by the UAV cluster and delivered by the set of one or more mission UAVs.
• In one aspect, one of the plurality of core UAVs to be distributed throughout the cluster comprises one of a propulsion UAV configured to augment a propulsion provided by each individual mission UAV in the cluster, a fuel storage UAV comprising a fuel reservoir storing a fuel, and configured to augment the fuel consumed by each individual mission UAV in the cluster, a power UAV configured to augment electrical power consumed by each individual mission UAV in the cluster, and a sensor UAV comprising a sensor.
• In one aspect, the sensor comprises a camera configured to capture an image of a destination location.
• In one aspect, the sensor comprises a radar.
• In one aspect, a first core UAV is configured to control an operation of each of the other core UAVs.
• In one aspect, a second core UAV is configured to control an operation of one or more of the plurality of mission UAVs. In such aspect, the second core UAV is different from, and controlled by, the first core UAV.
• In one aspect, the present disclosure provides an unmanned aerial vehicle (UAV) system comprising a plurality of individual UAVs arranged in a cluster. In such aspects, the plurality of individual UAVs comprises a plurality of mission UAVs, with a set of one or more mission UAVs being configured for controlled independent flight, and a plurality of core UAVs distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs within the cluster according to a predefined mission characteristic of the UAV cluster.
• In one aspect, the selected distribution pattern defines a corresponding position for each core UAV within the UAV cluster.
• In one aspect, individual UAVs in the UAV cluster comprise a same size and are congruent.
• In one aspect, one or both of a number and type of core UAVs to be distributed throughout the UAV cluster is selected based on the predefined mission characteristic.
• In one aspect, the predefined mission characteristic comprises one or more of a distance of a destination location from a launch location of the UAV cluster, a type of mission the set of one or more mission UAVs are configured to perform, a number of predetermined intermediate waypoints for the UAV cluster between the launch location of the UAV cluster and the destination location, and a load characteristic of a load carried by the UAV cluster, and delivered by the set of one or more mission UAVs.
• In one aspect, the plurality of core UAVs comprises a first core UAV configured to control an operation of each of the other core UAVs in the cluster, and a second core UAV, different from the first core UAV, and configured to control operations of the plurality of mission UAVs.
• In one aspect, the present disclosure provides a method of operating an unmanned aerial vehicle (UAV) cluster. In such aspects, the method comprises determining a mission characteristic of a mission assigned to a UAV cluster, and based on the mission characteristic, arranging a plurality of mission UAVs to form the UAV cluster, wherein one or more of the mission UAVs is configured for controlled independent flight, selecting a distribution pattern for a plurality of core UAVs, wherein the distribution pattern identifies corresponding positions in the UAV cluster for each of the plurality of core UAVs, and distributing the plurality of core UAVs throughout the UAV cluster according to the distribution pattern.
• In one aspect, the method further comprises selecting one or both of a number and type of core UAVs to be distributed throughout the UAV cluster based on the mission characteristic.
• In one aspect, each of the mission UAVs and the core UAVs that form the UAV cluster comprises a same size and is congruent. In these aspects, selecting the distribution pattern for the plurality of core UAVs based on the mission characteristic comprises selecting the distribution pattern based on one or more of a distance of a destination location from a launch location of the UAV cluster, a type of mission the set of one or more mission UAVs are configured to perform, a number of intermediate waypoints between the launch location of the UAV cluster and the destination location for the UAV cluster, and a characteristic of a load carried by the UAV cluster and delivered by the one or more mission UAVs.
• In one aspect, the plurality of mission UAVs and the plurality of core UAVs are releasably coupled to each other in the UAV cluster. In these aspects, the method further comprises communicatively connecting each of the core UAVs to one or more of the plurality of mission UAVs.
• In one aspect, the method further comprises designating a first core UAV as a master core UAV, controlling one or more second core UAVs using the master core UAV, and controlling one or more of the mission UAVs using at least one of the second core UAVs.
• In one aspect, the present disclosure provides a self-aligning docking mechanism for an unmanned aerial vehicle (UAV). In these aspects, the self-aligning docking mechanism comprises an alignment circuit configured to generate an alignment signal representing a current alignment of the UAV with a proximate UAV responsive to detecting an indicator signal emitted by the proximate UAV, a docking jaw configured to grip a corresponding docking jaw disposed on the proximate UAV, and a docking control circuit configured to align the docking jaw with the corresponding docking jaw on the proximate UAV based on the alignment signal, and control the docking jaw to grip the corresponding docking jaw to dock the UAV to the proximate UAV.
• In one aspect, the self-aligning docking mechanism further comprises an extendable arm configured to releasably attach to a corresponding extendable arm on the proximate UAV.
• In one aspect, the extendable arm comprises a magnetic component configured to releasably connect to a corresponding magnetic component disposed on the corresponding extendable arm of the proximate UAV.
• In one aspect, the self-aligning docking mechanism further comprises a servo drive operatively connected to both the docking jaw and the docking control circuit. To align the docking jaw with the corresponding docking jaw, the docking control circuit is configured to determine whether the docking jaw is aligned with the corresponding docking jaw responsive to an analysis of the alignment signal, and send an alignment message to the servo drive responsive to determining that the docking jaw and the corresponding docking jaw are not aligned.
• In one aspect, to align the docking jaw with the corresponding docking jaw, the servo drive is configured to generate one or more alignment commands responsive to receiving the alignment message from the docking control circuit, and rotate the docking jaw about a longitudinal axis using the one or more alignment commands.
• In one aspect, the docking jaw is configured to move between an open state to undock from the corresponding docking jaw, and a closed state to dock with the corresponding docking jaw.
• In one aspect, the docking jaw comprises opposing first and second grippers constructed from a shape memory alloy. In such aspects, the docking control circuit is further configured to apply a first voltage to each of the first and second grippers to move the docking jaw to the open state, wherein the first voltage meets or exceeds a threshold value, and reduce the first voltage being applied to the first and second grippers to a second voltage to move the docking jaw to the closed state, wherein the second voltage is less than the threshold value.
• In one aspect, to reduce the first voltage to the second voltage, the docking control circuit is configured to cease applying the first voltage to the first and second grippers.
• In one aspect, the present disclosure provides a method of docking a first unmanned aerial vehicle (UAV) and a second UAV. The method implemented by the first UAV comprises, during a first docking stage, generating an alignment signal indicating a current state of alignment between the first and second UAVs responsive to detecting an indicator signal emitted by the second UAV. During a second docking stage the method comprises aligning a docking jaw of the first UAV to a corresponding docking jaw of the second UAV based on the alignment signal, and docking the first and second UAVs, wherein the docking comprises controlling the docking jaw of the first UAV to grip the corresponding docking jaw of the second UAV.
• In one aspect, during the first docking stage, the method further comprises releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV.
• In such aspects, releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV comprises magnetically coupling the arm extending from the first UAV to the corresponding arm extending from the second UAV.
• In one aspect, aligning a docking jaw of the first UAV to a corresponding docking jaw of the second UAV based on the alignment signal comprises rotating the docking jaw of the first UAV about a longitudinal axis responsive to determining that the first and second UAVs are misaligned.
• In one aspect, the docking jaw of the first UAV comprises opposing first and second grippers constructed from a shape memory alloy. In such aspects, the method further comprises applying a first voltage to each of the first and second grippers to open the docking jaw, wherein the first voltage meets or exceeds a threshold value, and reducing the first voltage being applied to the first and second grippers to a second voltage to close the docking jaw, wherein the second voltage is less than the threshold value.
• In one aspect, reducing the first voltage to the second voltage comprises ceasing to apply the first voltage to the first and second grippers.
• In one aspect, the present disclosure provides a non-transitory computer-readable medium storing software instructions that, when executed by processing circuitry on a first unmanned aerial vehicle (UAV), causes the processing circuitry to, during a first docking stage, generate an alignment signal indicating a current state of alignment between a docking jaw of the first UAV and a corresponding docking jaw of a second UAV responsive to detecting an indicator signal emitted by the second UAV. During a second docking stage, the software instructions executed by the processing circuitry cause the processing circuitry to align the docking jaw of the first UAV with the corresponding docking jaw of the second UAV based on the alignment signal, and dock the first and second UAVs by controlling the docking jaw of the first UAV to grip the corresponding docking jaw of the second UAV.
BRIEF DESCRIPTION OF THE DRAWINGS
• Aspects of the present disclosure are illustrated by way of example and are not limited by the accompanying figures with like references indicating like elements.
• FIG. 1 is a perspective view illustrating an Unmanned Aerial Vehicle (UAV) cluster comprising a plurality of interconnected UAVs according to one aspect of the disclosure.
• FIG. 2 is a perspective view of a UAV cluster configured according to the present aspects in-flight and delivering one or more payloads to corresponding delivery locations.
• FIGS. 3A-3B are perspective views illustrating a mission UAV configured according to one aspect of the present disclosure.
• FIGS. 4A-4B are perspective views illustrating a fuel augmentation UAV configured according to one aspect of the present disclosure.
• FIGS. 5A-5B are perspective views illustrating a propulsion augmentation UAV configured according to one aspect of the present disclosure.
• FIGS. 6A-6B are perspective views illustrating a power augmentation UAV configured according to one aspect of the present disclosure.
• FIGS. 7A-7B are perspective views illustrating a sensor UAV configured to sense a surrounding environment according to one aspect of the present disclosure.
• FIG. 8 is a functional block diagram illustrating some components of the UAV control circuitry according to one aspect of the present disclosure.
• FIG. 9 is a flow chart illustrating a method for creating and configuring a UAV cluster according to a mission for the UAV cluster according to one aspect of the present disclosure.
• FIG. 10 is a functional block diagram illustrating component parts of a UAV in a UAV cluster according to one aspect of the present disclosure.
• FIG. 11 is a perspective view of a UAV cluster configured according to another aspect of the present disclosure.
• FIG. 12 is a perspective view of a UAV cluster configured according to another aspect of the present disclosure.
• FIG. 13 is a perspective view of a UAV cluster configured according to another aspect of the present disclosure.
• FIG. 14A is a functional block diagram illustrating a self-aligning docking mechanism in an open state according to one aspect of the present disclosure.
• FIG. 14B is a functional block diagram illustrating the self-aligning docking mechanism in a closed state according to one aspect of the present disclosure.
• FIGS. 15A-15B illustrate a docking jaw configured according to one aspect of the present disclosure seen along section A-A and B-B, respectively.
• FIG. 16 is a flow chart illustrating a method of docking UAVs comprising the self-aligning docking mechanism according to one aspect of the present disclosure.
• FIG. 17 is a functional block diagram illustrating a docking-jaw servo control circuit configured according to one aspect of the present disclosure.
• FIG. 18 is a functional block diagram of a power resource component configured to generate and distribute power to one or more UAVs in a UAV cluster according to one aspect of the present disclosure.
DETAILED DESCRIPTION
• Aspects of the present disclosure provide an adaptive, mission-configurable and scalable platform architecture for dynamically creating and operating a cluster of individual Unmanned Aerial Vehicles (UAVs) or “drones.” These “UAV clusters” are utilized, for example, to carry and deliver a payload or payloads to one or more different destination locations. When compared to using individual UAVs to deliver a payload, the platform of the present disclosure beneficially allows users to create and operate UAV clusters in a much more cost-effective manner. As such, the UAV clusters of the present disclosure are able to achieve a highly efficient flight performance with a substantial increase in both payload capability and range.
• In one aspect of the present disclosure, each of the individual UAVs are physically and communicatively interconnected to form a unitary “UAV cluster.” There are a variety of functions that a given UAV in the UAV cluster can perform, but the inclusion of any particular UAV(s) in the UAV cluster, their corresponding position(s) within the UAV cluster, and the overall configuration of the UAV cluster is based on the particular mission the UAV is to perform. Such missions include, for example, the delivery of one or more payloads (e.g., customer ordered products) from one or more distribution points (e.g., warehouses) to one or more destination locations associated with corresponding customers.
• Each individual UAV in the cluster is capable of autonomous independent flight, but is also capable of such flight as part of the UAV cluster (or as seen later in more detail, a UAV “sub-cluster”). Further, each individual UAV in the UAV cluster is configurable to perform a corresponding mission either alone and/or as part of the larger UAV cluster. Thus, according to the present disclosure, the UAV cluster can be assigned to fly a mission, which each of the individual UAVs in the cluster are configured to support. During that mission, however, individual UAVs in the UAV cluster can temporarily detach from the UAV cluster, perform its own mission for which it was independently configured, and then return to the UAV cluster to once again function as part of that cluster.
• Turning now to the drawings,FIG. 1 illustrates a UAV system arranged as aUAV cluster10 configured according to one aspect of the present disclosure. As seen inFIG. 1,UAV cluster10 is a unitary structure comprised of a plurality of individual, yet interconnected,UAVs12,14,16. Each type ofUAV12,14,16 is specifically configured to perform a different function or type of function. However, regardless of that function, eachindividual UAV12,14,16 comprises a plurality of motor-drivenrotors18 that provide theUAV12,14,16, as well as theUAV cluster10, with the ability to fly and maneuver above a ground surface. Further, regardless of their type or function, eachindividual UAV12,14,16 inUAV cluster10 is both physically and communicatively interconnected to at least one otherindividual UAV12,14,16 inUAV cluster10. Such interconnection, which is described more fully in association with later figures, facilitates the ability of theindividual UAVs12,14,16 to communicate with each other, and to share resources with each other on an as-needed basis, while theUAV cluster10 flies from point to point to deliver payloads.
• TheUAV cluster10 may comprise any number and type ofindividual UAVs12,14,16 needed or desired. According to aspects of the present disclosure, however, the number, type, and position of theindividual UAVs12,14,16 within theUAV cluster10 depends on the particular mission intended forUAV cluster10. For example, theUAV cluster10 ofFIG. 1 is comprised of a plurality of “mission”UAVs12 and a plurality of so-called “core UAVs” comprising a plurality of “fuel storage”UAVs14, and a plurality of “propulsion”UAVs16. For missions where a large number of individual payloads are to be delivered to a large number of geographically different destination locations, or for missions where a small number of “heavy” payloads are to be delivered to a relatively small number of destination locations,UAV cluster10 can be configured to include a greater number ofmission UAVs12 designed to carry those “payloads.” Should the geographical distance of the destination location(s) meet or exceed a predetermined maximum distance threshold, for example,UAV cluster10 can be configured to also include various “core UAVs,” such as one or morefuel storage UAVs14 to carry extra fuel for the other UAVs. For missions whereUAV cluster10 requires higher flight velocity and/or greater maneuverability, for example,UAV cluster10 can include one ormore propulsion UAVs16. Thesepropulsion UAVs16, as seen in more detail later, compriseadditional rotors18 to help propelUAV cluster10 faster, higher, and/or a greater distance.
• The particular overall “wing” configuration forUAV cluster10 is also dependent on the type of mission or missions theUAV cluster10 is to perform. For example, the wing configuration ofUAV cluster10 seen inFIG. 1 is commonly known as a “sweepback” wing. With “sweepback wing” configurations,UAV cluster10 experiences less drag and higher aerodynamic performance. Configuring theindividual UAVs12,14,16 such that they are organized to formUAV cluster10 in this type of wing configuration is beneficial, for example, in missions where theUAV cluster10 flies at a higher cruise speeds.
• FIG. 2 illustrates aUAV cluster10 configured to perform a mission according to the present disclosure. Particularly,UAV cluster10 is created to comprise a plurality ofindividual mission UAVs12 and a plurality of core UAVs. The core UAVs includefuel storage UAVs14 andpropulsion UAVs16. In one aspect, the creation of a givenUAV cluster10 occurs “on the ground” at one of the distribution points DP. In these aspects, theindividual UAVs12,14,16, for use in creating theUAV cluster10 are selected and interconnected physically and communicatively while at the distribution location. TheUAV cluster10 is then launched to fly its mission, with theindividual mission UAVs12 detaching from theUAV cluster10 to deliver their respective payloads to their respective destination locations DL. In other aspects,individual UAVs12,14,16 may be launched from one or more of the distribution points DP and join an already existingUAV cluster10 in-flight. In these aspects, theindividual UAVs12,14,16 are configured to autonomously dock with each other while in-flight and form the physical and communication connections.
• The connections formed by theindividual UAVs12,14,16 when creating or joining aUAV cluster10 facilitate data communications between theindividual UAVs12,14,16, and allow them to dynamically share their resources with each other. The ability to dynamically share resources betweenindividual UAVs12,14,16 while “in-flight” helps to ensure that both the overall mission of theUAV cluster10, and the individual missions of themission UAVs12 inUAV cluster10, are successfully completed.
• Regardless of where theUAV cluster10 is created, or how theindividual UAVs12,14,16 are selected to create theUAV cluster10,UAVs12,14,16 are configured to remain together as a single entity to fly with greater efficiency to one or more destination locations DL. Upon arrival, themission UAVs12 temporarily detach from theUAV cluster10 in-flight, deliver their respective payloads to the appropriate destination location DL, and then rejoin theUAV cluster10 for the return flight back to a distribution point DP. Thus, the individual UAVs comprising the UAV cluster are releasably-coupled.
• FIGS. 3A-7B are various views illustrating some exemplary types of individual UAVs that are suitable for use in creating theUAV cluster10 according to various aspects of the present disclosure. Particularly, an individual UAV can be a rotor-based aircraft or “drone” capable of being controlled independently and/or as part of theUAV cluster10 by a user and/or control program executing on a processing circuit. In the illustrated embodiment, all individual UAVs are hexagonally-shaped polygons of the same size. As such, the, all individual UAVs used to build a givenUAV cluster10 are congruent (e.g., are identical in form such that the shape coincides when superimposed). Such congruency helps ensure that the individual UAVs will “fit” neatly together to form theUAV cluster10, facilitates docking and undocking of the individual UAVs with respect to theUAV cluster10, and allows for the interconnection of individual UAVs in any desired shape of wing. Therefore, the congruency of the individual UAVs in a givenUAV cluster10 ensures that theUAV cluster10 is both dynamically re-configurable and dynamically scalable. In other embodiments, other arrangements are possible, for example, the shapes may be similar to one another but not congruent (e.g., have the same shape but a different size)
• Those of ordinary skill in the art will readily appreciate that the individual UAVs of the present aspects are not limited solely to the particular hexagonal shape and size seen in the figures. According to other aspects of the disclosure, aUAV cluster10 could comprise a plurality of individual UAVs shaped like triangles, quadrilaterals, pentagons, octagons, and the like. Thus, other shapes and sizes for the individual UAVs are possible, so long as all individual UAVs in a givenUAV cluster10 are congruent.
• FIGS. 3A-3B illustrate amission UAV12 configured according to one aspect of the present disclosure.Mission UAVs12 are the “workhorses” ofUAV cluster10 as their primary function is to carry and deliver a payload to a predetermined destination location. However, not allmission UAVs12 in a givenUAV cluster10 need to be utilized to carry a payload. In some aspects, for example, at least somemission UAVs12 forming a givenUAV cluster10 provide lift capabilities and maneuverability to theUAV cluster10.
• As seen inFIGS. 3A-3B,mission UAV12 comprises aframe20 and aninfrastructure span22 configured to carry the weight of a given payload from a distribution point DP to a destination location DL.Frame20 is manufactured from a rigid or semi-rigid lightweight material and is configured to at least partially protect the component parts ofmission UAV12. Theinfrastructure span22 is connected to, and extends between, the interior surfaces offrame20 and is also manufactured from a lightweight rigid material or semi-rigid material. As seen in these figures,infrastructure span22 is configured to support at least some of the component parts ofmission UAV12, such as therotors18 and their respective motors and control components. Further, the interior ofinfrastructure span22 can be at least partially hollow thereby functioning as a pathway for the cables, wires, and/or other connection-related hardware needed by the individual UAVs to communicate and share resources.
• As best seen inFIG. 3B,frame20 also comprises a plurality ofdocking members24. In this aspect, thedocking members24 comprise electro-magnets and are controlled by one or more processing circuits to activate and deactivate as needed. In other embodiments, other arrangements for thedocking members24 are possible. For example, thedocking members24 may include thedocking mechanism110 shown inFIG. 14.
• When activated, thedocking members24 generate a magnetic field so as to magnetically attract thedocking members24 of other,proximate UAVs12,14,16 in theUAV cluster10. Thedocking members24 then remain activated during flight operations to maintain the desired wing-shape of theUAV cluster10. Further, each dockingmember24 comprises a connection conduit26 (e.g., one or more wires) to facilitate the data communications and resource sharing with the other UAVs inUAV cluster10 whenmission UAV12 is docked with theUAV cluster10.
• When deactivated, thedocking members24 repel or cease to attract thedocking members24 of other individual UAVs. Such deactivation allows for the “undocking” of a givenmission UAV12 from theUAV cluster10 thereby configuring themission UAV12 to temporarily detach from theUAV cluster10 and deliver its payload to a destination location DL. Once the payload has been delivered and themission UAV12 returns to dock withUAV cluster10, thedocking members24 are again activated.
• As seen inFIGS. 3A-3B,mission UAV12 comprises a four-rotor configuration. The rotational velocity, pitch, and yaw of eachrotor18 is independently controllable to change its height and orientation with respect to a ground surface, as well as its speed. However, as will be seen in more detail later,mission UAV12 is not limited only to a four-rotor configuration. Rather, themission UAV12 of the present aspects can have more or fewer rotors as needed or desired.
• FIGS. 4A-7B illustrate various types of “core UAVs” suitable for use in aspects of the present disclosure. These so-called “core UAVs” are notmission UAVs12 in that they are not configured to carry and deliver a payload. Rather, the core UAVs of the present aspects have different specialized functions designed to augment the abilities of the individual UAVs and the UAV cluster, thereby helping to ensure that theUAV cluster10 and each of themission UAVs12 achieve successful mission completion.
• FIGS. 4A-4B illustrate afuel storage UAV14 configured to augment a liquid fuel utilized by other UAVs in theUAV cluster10 according to one aspect of the present disclosure. Thefuel storage UAV14 also comprises aframe20, aninfrastructure span22,docking members24, andconnection conduits26. In addition, however,fuel storage UAV14 also comprises afuel reservoir28 configured to carry an amount of liquid fuel, such as gasoline, for example. In more detail, thefuel storage UAV14 of this aspect is not configured to carry a deliverable payload, as are themission UAVs12. Rather, thefuel storage UAVs14 are configured to augment the fuel storage capacity of theindividual UAVs12,14,16 thereby extending flight distance and time.
• In operation, a control circuit (described later) receives requests for additional fuel from one or more UAVs inUAV cluster10. In response to the requests, thefuel storage UAV14 is controlled to provide the requested fuel fromfuel reservoir28 to the particular requesting UAV. The fuel can, for example, be pumped through conduits or passages formed inframe20 and infrastructure span22 (shown inFIG. 3B).
• According to the present disclosure, a givenUAV cluster10 can be configured to include one or more of thesefuel storage UAVs14 based on its particular mission. For example, aUAV cluster10 configured to fly a long distance mission may be created, as previously described, to include multiplefuel storage UAVs14. The longer the distance theUAV cluster10 is to fly, the morefuel storage UAVs14 theUAV cluster10 can contain. Further, the positioning of multiplefuel storage UAVs14 within theUAV cluster10 depends on theUAV cluster10 mission as well as on the particular wing configuration for theUAV cluster10. In general, thefuel storage UAVs14 are positioned within theUAV cluster10 to ensure an appropriate weight distribution for theUAV cluster10.
• FIGS. 5A-5B illustrate a type of “core” or special-function UAV known as apropulsion UAV16 according to one aspect of the present disclosure. In addition to theframe20,infrastructure span22,docking members24, andcommunication conduits26, each of which was previously described,propulsion UAV16 comprises an additional set ofrotors18. As above, therotors18 are independently controllable thereby facilitating the requisite control over the flight characteristics ofUAV cluster10 during flight.
• FIGS. 6A-6B illustrate another “core” or special-function UAV referred to herein apower UAV30. Thepower UAV30 is similarly structured to the other UAVs in thatpower UAV30 also comprises aframe20, aninfrastructure span22, a plurality ofdocking members24, andcommunication conduits26. In addition, however, thepower UAV30 also comprises a plurality of electrical energy sources, such asbatteries34, for example, mounted to aplatform32 spanning between theframe20. In operation, thepower UAV30 is controlled to provide electrical power generated by thebatteries34 to one or more of the other UAVs inUAV cluster10 upon request. The UAVs inUAV cluster10 receiving the power can then utilize that power to augment their own individual power supply.
• As seen inFIGS. 6A-6B, thepower UAV30 comprises a plurality ofbatteries34. However, those of ordinary skill in the art should appreciate that the present disclosure is not so limited. By way of example only,power UAV30 can comprise one or more solar cells designed to generate electricity from light in addition to, or in lieu of,batteries34. In aspects where thepower UAV30 comprises both, the solar cells can be employed to rechargebatteries34 and/or provide a direct electrical current to the components of another UAV inUAV cluster10.
• FIGS. 7A-7B illustrate another type of special-function UAV suitable for use in various aspects of the present disclosure. In this aspect, asensor UAV40 comprisesframe20,infrastructure span22,rotors18,docking members24, andcommunication conduits26, but also comprises asensor46 mounted to aplatform42. Thesensor46 is configured to sense a surrounding environment of theUAV cluster10. According to various aspects, thesensor46 can comprise any sensor known in the art including, but not limited to, a camera, an infra-red sensor, thermal sensor, microphone, motion sensor, and the like, or any combination thereof. Additionally,sensor UAV40 can also comprisecontrol circuitry44 mounted toplatform42, which can include memory circuitry, configured to control the operation ofsensor46 when thesensor UAV40 is detached from theUAV cluster10. In aspects where thecontrol circuitry44 also comprises memory circuitry,sensor UAV40 can store images, video, audio, and/or other artifacts until it returns toUAV cluster10 and/or distribution point DP. In some aspects,UAV cluster10 also includes a UAV comprising memory circuitry that stores artifacts sensed bysensor46. In these cases, the artifacts can be transferred between UAVs via thecommunication conduit26.
• FIG. 8 is a functional block diagram illustrating some components of theUAV circuitry50 carried by each individual UAV inUAV cluster10. As seen inFIG. 8, theUAV circuitry50 of each UAV comprises atleast control circuitry52, amemory54, andcommunications interface circuitry56. Thecontrol circuitry52 comprises, for example, a microprocessor and controls the operation of the UAV in accordance with executing a control program stored inmemory54. The control program can, for example, define the mission assigned to theUAV cluster10 as a whole and/or to the UAV individually. Where the UAV is a core UAV, such as afuel storage UAV14, for example, thecontrol circuitry52 receives and responds to requests for fuel (or other resources). When responding, thecontrol circuitry52 is also configured to control itsfuel reservoir28 to provide fuel to the requesting UAV. Thecommunications interface circuitry56 provides the communications between the various UAVs inUAV cluster10.
• FIG. 9 is a flow chart illustrating amethod60 for creating and configuring aUAV cluster10 based on its mission according to one aspect of the present disclosure.Method60 begins by determining a mission characteristic for a mission assigned to a UAV cluster10 (box62). By way of example, the overall mission of theUAV cluster10 may be to deliver a single, large, relatively heavy payload to a distant destination location DL. Alternatively, the mission may be to deliver multiple smaller payloads to different destination locations DL that are geographically close to each other and to a launching point of theUAV cluster10. In still another example, the mission may be that theUAV cluster10 flies towards a predetermined destination location DL, and releases asensor UAV40 to capture images of that destination location DL. Regardless of the mission, however,method60 arranges a plurality ofmission UAVs12 to form theUAV cluster10 based on the mission (box64).
• Then, one or both of a number and type of the “core” or special-function UAVs14,16,30,40, are selected based on the mission characteristic for distribution throughout UAV cluster10 (box66). For example, missions that require additional fuel will likely select one ormore fuel UAVs14 to augment the fuel supply of the other UAVs inUAV cluster10. Missions that require the capture of images will select one ormore sensor UAVs40 for inclusion inUAV cluster10. Once the appropriate “core” or special-function UAVs have been selected, however, a distribution pattern is selected for those UAVs (box68). The distribution pattern identifies corresponding positions for each core UAV selected for inclusion in theUAV cluster10. The UAVs are then distributed throughout theUAV cluster10 according to the selected distribution pattern (box70), and communicatively connected to each other and to one or more of the plurality of mission UAVs (box72).
• Those of ordinary skill in the art should appreciate that the distribution pattern selected for the core UAVs is not limited solely to a distance theUAV cluster10 must fly to one or more destination locations DL. Rather, there are other factors considered when selecting a distribution pattern. For example, a type of mission that theUAV cluster10, or a set of one ormore mission UAVs12 in theUAV cluster10, is intended to perform, can also be considered when selecting a distribution pattern for the core UAVs. That is, a mission to capture images of an object or perform some other sensory function will likely mean that one ormore sensor UAVs40 will be distributed so as to obtain a clear line of sight to the object. A mission having one or more intermediate waypoints between the distribution point DP and a destination location DL could mean thatUAV cluster10 will include fewerfuel storage UAVs14 if the intermediate waypoints are capable of refueling theUAV cluster10, or morefuel storage UAVs14 if the intermediate waypoints are not capable of refueling theUAV cluster10. In either case, the distribution pattern for thefuel storage UAVs14 could be selected to reflect an even weight distribution and/or to ensure close proximity of thefuel storage UAVs14 and the UAVs they would refuel. Another factor that may be considered is a characteristic of the payload to be carried by theUAV cluster10. For example, heavier payloads may requireadditional propulsion UAVs16 distributed symmetrically across theUAV cluster10 so as to ensure themission UAVs12 are capable of carrying the payload to the destination location DL. In some aspects, multiple factors are considered when selecting the number and types of core UAVs to be included in theUAV cluster10, as well as determining an appropriate distribution pattern for the core UAVs.
• FIG. 10 is a functional block diagram illustrating some component parts of acomputing device80 configured to implementmethod60 according to one aspect of the present disclosure. As seen inFIG. 10, thecomputing device80 comprises processingcircuitry82,memory84, auser interface86, andcommunications circuitry88.
• According to various aspects of the present disclosure, processingcircuitry82 comprises one or more microprocessors, microcontrollers, hardware circuits, discrete logic circuits, hardware registers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), or a combination thereof. Thus, in one aspect, processingcircuitry82 includes programmable hardware capable of executing software instructions stored, e.g., as a machine-readablecomputer control program90 inmemory84.Processing circuitry82 is configured to executecontrol program90 to perform the previously described aspects of the present disclosure. This includes determining a characteristic of a mission being assigned toUAV cluster10, and based on that characteristic, selecting the number and type of individual UAVs that are to comprise theUAV cluster10, and determining a distribution pattern for the selected “core” UAVs. So determined, theUAV cluster10 can be built with the core UAVs being distributed in accordance with the selected distribution pattern.
• Memory84 comprises any non-transitory machine-readable storage media known in the art or that may be developed, whether volatile or non-volatile, including (but not limited to) solid state media (e.g., SRAM, DRAM, DDRAM, ROM, PROM, EPROM, flash memory, solid state drive, etc.), removable storage devices (e.g., Secure Digital (SD) card, miniSD card, microSD card, memory stick, thumb-drive, USB flash drive, ROM cartridge, Universal Media Disc), fixed drive (e.g., magnetic hard disk drive), or the like, individually or in any combination. As seen inFIG. 10,memory84 is configured to store a computer program product (e.g., control program90) comprising the instructions executed by processingcircuitry82 to perform the previously described aspects of the present disclosure. Additionally,memory84 is configured to store various information and data, such as the rules for selecting the number and types of individual UAVs to be used to buildUAV cluster10, as well as the respective distribution patterns for the core UAVs.
• Theuser interface86 comprises circuitry configured to control the input and output (I/O) data paths of thecomputing device80. The I/O data paths include those used for exchanging signals with a user. For example, in some aspects, theuser interface86 comprises various user input/output devices including, but not limited to, one or more display devices, a keyboard or keypad, a mouse, and the like. Using these, a user ofcomputing device80 is able to select a mission to be assigned to a givenUAV cluster10, as well as input any parameters needed to ensureUAV cluster10 completes its assigned mission successfully.
• Thecommunications circuitry88 comprises circuitry configured to allow thecomputing device80 to communicate data and information with one or more other devices via a communications network (not shown). Generally,communications circuitry88 comprises an ETHERNET card or other circuit specially configured to allowcomputing device80 to communicate the data and information. However, in other aspects of the present disclosure,communications circuitry88 includes a transceiver configured to send and receive communication signals to and from another device via a wireless communications network. In aspects of the present disclosure,computing device80 utilizescommunications circuitry88 to communicate signals and data regarding an assigned mission toUAV cluster10, as well as to one or more of the individual UAVs comprising the UAV cluster. By way of example,computing device80 may communicate signals and data tovarious mission UAVs12 inUAV cluster10 to specifically configure thosemission UAVs12 to carry out their respective individual missions.
• As previously described, the present disclosure does not limit creating aUAV cluster10 to any particular type of wing. Nor does the present disclosure limit the creation of aUAV cluster10 to any particular type and/or number of individual UAVs. Rather, the aspects of the present disclosure can be utilized to create aUAV cluster10 to form any wing shape, and further, to include any type and number of constituent UAVs. As stated above, these particular aspects are determined based on a knowledge of the mission that is to be assigned to theUAV cluster10, as well as on knowledge of the missions to be assigned to the individual UAVs that comprise theUAV cluster10.
• To that end,FIGS. 11-13 illustrate aUAV cluster10 formed according to other aspects of the present disclosure. Particularly,FIG. 11 illustrates aUAV cluster100 as comprising a plurality ofmission UAVs12, and a plurality of “core” UAVs. In this aspect, the core UAVs comprise afuel storage UAV14, apropulsion UAV16, and asensor UAV40. Further, in this aspect, theUAV cluster10 is configured to separate intoUAV sub-clusters100,102,104. EachUAV sub-cluster100,102,104 is configurable to support theUAV cluster10 mission as a whole, but is also configured to fly its own mission. For example, amission UAV12 can undock from UAV sub-cluster104 in-flight to fly to its own predetermined destination location DL and deliver its payload. Meanwhile, the remaining UAVs in UAV sub-cluster104 (i.e., the remainingmission UAVs12, and the sensor UAV40) will continue on the mission assigned to theUAV sub-cluster104. Upon completion of the missions, the undockedmission UAV12 will return to once again dock with the UAV sub-cluster104 for its return flight, as previously described.
• In this aspect, each of the UAV sub-clusters100,102,104 are independently controllable to perform their respective missions. Thus, the inclusion of a number and type of core UAVs in eachUAV sub-cluster100,102,104, as well as the distribution pattern for those core UAVs in the UAV sub-clusters100,102,104, is determined based on a characteristic of the mission assigned to theUAV sub-cluster100,102,104. Additionally, however, eachUAV sub-cluster100,102,104 is capable of controlling its own mission directives when separated from theother UAV sub-clusters100,102,104.
• By way of example, a first core UAV (e.g., propulsion UAV16) inUAV sub-cluster100 may be configured as a “master UAV” to control all UAVs in theUAV cluster10 when allUAV sub-clusters100,102,104 are docked together. Thus, the other core UAVs (e.g., thepropulsion UAVs16 in UAV sub-clusters102 and104, respectively) are controlled by the master UAV in this configuration. However, upon separating from theUAV cluster10, each of thepropulsion UAVs16 in the UAV sub-clusters100,102,104 would act as its own “master UAV” for thatUAV sub-cluster100,102,104 while separated from theother UAV sub-clusters100,102,104 ofUAV cluster10. Upon re-docking, thepropulsion UAV16 of UAV sub-cluster92 would autonomously regain its “master UAV” status for theUAV cluster10.
• FIG. 12 is a top-down view of aUAV cluster10 configured according to another aspect of the present disclosure. In this aspect,UAV cluster10 has a “delta” wing shape. This wing shape is very efficient and provides a large wing area thereby reducing load on the wing and increasing maneuverability. As seen inFIG. 11, theUAV cluster10 comprises a plurality ofmission UAVs12, a plurality offuel storage UAVs14, a plurality ofpropulsion UAVs16, and apower UAV30 configured to augment the electrical power capabilities of the other UAVs inUAV cluster10.
• FIG. 13 is a perspective view of aUAV cluster10 having an “elliptical” wing shape according to another aspect of the present disclosure. Elliptical wing shapes may be advantageous in certain conditions by providing greater lift with less drag than other wing shapes. As seen inFIG. 13,UAV cluster10 comprises a plurality ofmission UAVs12, a plurality offuel storage UAVs14, a plurality ofpropulsion UAVs16, and apower UAV30 configured to augment the electrical power capabilities of the other UAVs inUAV cluster10.
• UAV clusters10 that are created according to the present disclosure provide benefits that conventionally created UAV clusters do not provide. Particularly, by generating theUAV cluster10 to include selected “core” UAVs and determining their distribution pattern in theUAV cluster10 according to a characteristic of the mission,UAV cluster10 achieves greater cost effectiveness than its conventional counterparts when transporting payloads to one or more destination locations DL. Moreover, the structure of theUAV clusters10 are scalable and reconfigurable in-flight. Such abilities easily facilitate “just-in-time” planning for delivering payloads using UAV clusters. Additionally, even if a mission assigned to a givenUAV cluster10 changes after it has been launched, aspects of the present disclosure allow the individual UAVs comprising theUAV cluster10 to be rearranged, replaced, or augmented according to any new mission parameters. In particular, thecomputing device80 previously described can, in one aspect, determine a new UAV make-up and distribution pattern for theUAV cluster10 while theUAV cluster10 is in-flight, and cause reconfiguration instructions to be transmitted to theUAV cluster10.
• Aspects of the present disclosure further include various methods and processes, as described herein, implemented using various hardware configurations configured in ways that vary in certain details from the broad descriptions given above. For example, thedocking members24 of the previously discussed aspects of the disclosure comprise electro-magnets disposed onframe20. Thedocking members24 in these aspects are controlled by one or more processing circuits to activate to allow docking with one or more other UAVs (e.g., any ofUAVs12,14,16,30,40) to form aUAV cluster10, and to deactivate to allow undocking from the other UAVs inUAV cluster10. However, as those of ordinary skill in the art will appreciate, the present disclosure is not limited to the use of electro-magnets on a frame of a UAV to facilitate docking and undocking. In other aspects of the present disclosure, each of the UAVs comprises a self-aligning docking mechanism that is controlled to engage and disengage the self-aligning docking mechanism of another UAV in theUAV cluster10. In other words, certain embodiments may use one or more different types of docking mechanisms.
• FIGS. 14A-14B and 15A-15B, for example, illustrate one such self-aligningdocking mechanism110 according to one aspect of the present disclosure in the context of a pair ofUAVs12a,12b.Such docking mechanisms can be utilized on any UAV regardless of type, and therefore, the specific illustration of the UAVs as beingUAV12 is merely for illustrative purposes. Further, while eachUAV12a,12bcomprises its own self-aligningdocking mechanism110, the following text describes the self-aligningdocking mechanism110 in terms of asingle UAV12afor clarity and ease of discussion.
• As seen these figures, the self-aligningdocking mechanism110 ofUAV12acomprises a pair ofedge extension clevises112a,anarm114aextending from each edge extension clevis112a,electro-magnetic members116adisposed at a terminal end of thearms114a,a pair of dockingalignment control circuits118a,and aflexible seal120aattached to theframe20aofUAV12a.Additionally, the self-aligningdocking mechanism110 comprises a docking-jawservo control circuit122a,a clocking polarservo drive circuit124a,a bearing-bushing member126afixedly coupled to theframe20a,and arotatable docking jaw130acoupled to the bearing-bushing member126a.Therotatable docking jaw130aof this aspect further comprises a pair ofopposable grippers132,134 that, as seen in more detail later, are configured to move between an open position for undocking, and a closed position for docking.
• For docking operations, theUAVs12a,12bare first flown so that they are in close proximity to each other. In one aspect, such movement is manually controlled by an operator using a controller. In other aspects, eachUAV12a,12bautonomously controls its own movement toward the other without the need for operator intervention. In some aspects, the movement of oneUAV12a,12btowards theother UAV12a,12bis controlled by both the operator and theUAVs12a,12b.By way of example, the operator may manually controlUAV12ato move towardUAV12buntil theUAVs12a,12bare within a predetermined distance of each other. Once within the predetermined distance, theUAVs12a,12bcan be configured to complete the docking procedure autonomously. Regardless of whether an operator provides any manual control, however, eachUAV12a,12bis configured to communicate with the other to provide information and data required for docking. The information and data exchanged by theUAVs12a,12bincludes, but is not limited to, their respective IDs, positions, and orientations relative to each other.
• TheUAVs12a,12bare configured to implement the docking procedure in multiple stages or phases. During a first stage, a “gross alignment” between the UAVs12a,12bis achieved in which theUAVs12a,12bare generally, but not precisely, aligned. Particularly, in one aspect, eachUAV12a,12bextends itsarms114a,114bfrom their respective edge extension clevis112a,112btowards the other. Sensors on theUAVs12a,12bcan assist with detecting the UAV, and with the initial positioning of theUAVs12a,12brelative to each other. The electro-magnetic members116a,116bon eacharm114a,114bare then energized to attract each other. Once the electro-magnetic members116a,116bcontact each other, the gross alignment stage is complete with the twoUAVs12a,12bcoupled together.
• As stated above, even though theUAVs12a,12bare coupled and in gross alignment with one another, their respective docking mechanisms are still not precisely aligned. Thus, aspects of the present disclosure configure theUAVs12a,12bto implement a second stage in which thedocking jaws130a,130bself-align to refine the gross alignment. Particularly, once the electro-magnetic members116a,116bare in contact, or are very near such contact, the dockingalignment control circuits118a,118bdetect each other. In this aspect, the dockingalignment control circuits118a,118bcomprise electro-optic alignment control circuits that emit light. Each dockingalignment control circuit118a,118bdetects the light emitted by the other, and sends corresponding alignment signals to its respective docking-jawservo control circuit122a,122b.Based on the signals received from the dockingalignment control circuits118a,118b,each docking-jawservo control circuit122a,122bdetermines whether itsrespective docking jaw130a,130bare sufficiently aligned with each other, or whether further refined alignment is required. Should refined alignment be required, each docking-jawservo control circuit122a,122bsends alignment signals to its corresponding clocking polarservo drive circuit124a,124b.In response, each clocking polarservo drive circuit124a,124bgenerates command signals to rotate theirrespective docking jaws130a,130bin one direction or the other to achieve a more precise alignment.
• According to one aspect of the present disclosure, the rotation of thedocking jaws130a,130bis complementary. That is, while the clocking polarservo drive circuit124aofUAV12agenerates control signals that rotatedocking jaw130aabout an axis/in a first direction (e.g., a clockwise direction), the clocking polarservo drive circuit124bofUAV12bgenerates complementary control signals to rotatedocking jaw130babout axis/in a second direction opposite the first direction (e.g., a counter-clockwise direction). Further, determining the particular rotational direction for eachdocking jaw130a,130bcan be accomplished in a variety of ways. In one aspect, for example, the direction of rotation for eachdocking jaw130a,130bis determined via messaging between the UAVs12a,12b.Particularly, the clocking polarservo drive circuit124acan send a message to clocking polarservo drive circuit124bindicating the direction in which it will causedocking jaw130ato rotate. Upon receipt, clocking polarservo drive circuit124bwill also generate one or more signals to rotatedocking jaw130b,but in the opposite direction.
• In another aspect of the disclosure, each clocking polarservo drive circuit124a,124bgenerates one or more control signals to rotate itsrespective docking jaw130a,130bto a predefined position. In such predefined positions, thegrippers132,134 of dockingjaw130aare offset at about 90° relative to thegrippers136,138 of dockingjaw130b(seeFIGS. 15A-15B).
• Regardless of the particular method employed, however, the two-stage method for aligning thedocking jaws130a,130baccording to the present disclosure preserves energy resources. More specifically,arms114a,114band electro-magnetic members s116a,116bprovide a rudimentary alignment of theUAVs12a,12bduring the first stage to permit thedocking jaws130a,130bto generally align with each other. While such alignment is not precise, and thus may not be entirely sufficient for docking, it is sufficient with which to place thegrippers132,134,136, and138 into general alignment with each other. This reduces the amount of power expended during the second stage to rotate thegrippers132,134,136,138 into precise alignment.
• As seen inFIGS. 14A and 15A, thegrippers132,134, as well asgrippers136,138, are in an “open” state. InFIG. 14B and 15B, however,grippers132,134, andgrippers136,138, are in a “closed” state. As those of ordinary skill in the art will appreciate, there are a variety of ways in which thegrippers132,134,136,138 are configured so as to facilitate this functionality.
• In one aspect, for example,grippers132,134,136,138 comprise a “shape memory alloy.” A shape memory alloy comprises a material that transitions to a first shape at a first temperature and to a second shape at a second temperature that is different from the first temperature. The alloy makes such a transition sua sponte, in other words, without any external forces acting on the material. In some aspects, such deformation is accomplished by selectively applying an electrical current to the shape memory alloy material that comprises thegrippers132,134,136,138 (e.g., to create Joule heating and thereby selectively control a temperature of thegrippers132,134,136,138).
• In more detail, each docking-jawservo control circuit122a,122bis configured to selectively apply the electrical current to itsrespective docking jaw130a,130b.In a default state, for example, neither docking-jawservo control circuit122a,122bwould apply an electric current to thegrippers132,134,136,138 (or alternatively, the current would be maintained below a predetermined level) thereby causinggrippers132,134,136,138 to move to the “closed” state (seeFIGS. 14B, 15B). In the closed state, the ridges formed on thegrippers132,134,136,138 contact each other, which helps maintainUAVs12a,12bdocked to one another. To “open” thedocking jaws130a,130b,however, the docking-jawservo control circuits122a,122bare configured to apply an electrical current to thegrippers132,134,136,138. Applying the electrical current causes the shape memory alloy to heat thereby causing thegrippers132,134,136,138 to move or “curl” away from each other (seeFIGS. 14A, 15A). In this “open” state, thedocking jaws130a,130bcan be precisely aligned with each other. Once aligned, docking-jawservo control circuits122a,122bceases applying the electrical current to thedocking jaws130a,130b,thereby causinggrippers132,134,136,138 to once again return to their original, “closed” state.
• FIG. 16 is a flow diagram illustrating amethod140 for docking twoUAVs12a,12baccording to one aspect of the present disclosure. As detailed herein,method140 ofFIG. 16 is performed in two stages by the docking-jawservo control circuit122aofUAV12a;however, those of ordinary skill in the art will readily appreciate that the description ofmethod140 in the context of a givenUAV12ais for illustrative purposes only, and that the method is easily extended to multiple UAVs.
• In the first stage,method140 begins with docking-jawservo control circuit122adetecting the presence of another UAV (e.g.,UAV12b) (box142). As previously described, such detection can be accomplished using one or more proximity sensors, or using any means known in the art. Once docking-jawservo control circuit122ahas detected another UAV in close proximity, data is exchanged with the other UAV (box144). Such data can include any information needed or desired, but in one aspect, comprises the ID of the UAV, as well as the position and/or orientation of the UAV. Docking-jawservo control circuit122athen activates the electro-magnetic members116adisposed at the terminal ends of thearms114a(box146), and causes the electro-optic alignment controls118ato begin emitting a signal, which in this case is light (box148). The emitted light will be detectable by corresponding electro-optic alignment controls118bassociated with theother UAV12b.
• In the second stage,method140 calls for docking-jawservo control circuit122ato detect alignment signals (e.g., light) emitted by the electro-optic alignment controls118bofUAV12b(box150). Once detected, docking-jawservo control circuit122asends those signals to the docking-jawservo control circuit122a(box152), and then generates and sends alignment signals to the clocking polarservo drive circuit124acausing that circuit to rotate thedocking jaws130a(box154) (e.g., to thedocking jaws130arotate to account for differences in orientation, such as a difference in pitch, betweenUAV12aandUAV12b.Docking-jawservo control circuit122athen generates the necessary signals to opendocking jaw130a,such as a voltage or current above a specified threshold, for example (box156). As stated above, thedocking jaw130a,in one aspect, comprises a smart material such as a smart memory alloy configured to alter its shape in response to the application of an electric current. Thus, so long as the current is being applied to the smart memory alloy,docking jaw130aremains in the open state.
• Docking-jawservo control circuit122athen determines an amount and direction in which to rotate thedocking jaw130a,as previously described (box158), and generates the signals needed to rotate thedocking jaw130ain the determined amount and direction (box160). So aligned, docking-jawservo control circuit122agenerates the signals needed to close the docking jaw130 (box162). As previously stated, generating the signals needed to close thedocking jaw130amay comprise the docking-jawservo control circuit122aceasing to generate and send the signals that caused thedocking jaw130ato remain open. By simply ceasing sending the signal, aspects of the present disclosure can effect the closure of thedocking jaw130awhile simultaneously saving precious energy resources. To once again open thedocking jaw130a(i.e., to releaseUAV12afrom another UAV), one aspect of the disclosure calls for the docking-jawservo control circuit122ato cease generating and sending the electrical current to thedocking jaw130a.
• FIG. 17 is a functional block diagram illustrating the docking-jawservo control circuit122 implemented as different hardware units and software modules according to one aspect of the present disclosure. As seen inFIG. 17, the docking-jawservo control circuit122 comprises an edge extension clevis control module/unit172, a communications module/unit174, an electro-optical emitter/detector module/unit176, a docking-jaw servo determination module/unit178, and a docking jaw control module/unit180.
• The edge extension clevis control module/unit172 is configured to control the extension of arms114 from the edge extension clevis112 responsive to theUAV12 detecting anotherUAV12 with which it will dock. Particularly, in response to one or more control signals, the edge extension clevis control module/unit172 extends arms114 and activates the electro-magnetic members116 disposed at the terminal end of arms114 to magnetically couple to the electro-magnetic members associated with theother UAV12. When undocking, edge extension clevis control module/unit172 is configured to disable the electro-magnetic members116 to allow the UAVs to disconnect from one another, and then subsequently retract the arms114 back into, or towards,frame20 ofUAV12.
• The communications module/unit174 is configured to send and receive data, signals, and information to and from clocking polar servo drive circuit124 to effect rotation of the docking jaw130, and in some aspects, to communicate with one or more other processing circuits associated withUAV12. The electro-optical emitter/detector module/unit176 is configured to activate the docking alignment control circuit118 to cause the docking alignment control circuit118 to begin emitting light that is detected by a corresponding docking alignment control circuit118 disposed on theother UAV12. Additionally, docking alignment control circuit118 is also configured to detect light emitted by the corresponding docking alignment control circuits118 associated with other UAVs.
• The docking-jaw servo determination module/unit178 is configured to determine an amount of rotation for a docking jaw130, as well as a direction in which the docking jaw is to be rotated. The docking jaw control module/unit180 is configured to rotate the docking jaw130 responsive to data output by the docking-jaw servo determination module/unit178, as well as to cause the docking jaw130 to open and close in response to the selective application of an electrical current, as previously described.
• As previously described, the present disclosure beneficially provides different types of UAVs, each of which is configured to perform a different function. Further, such functional variety is advantageous when configuring aUAV cluster10 for a particular type of mission. For example, consider missions that require theUAV cluster10 to deliver one or more light payloads to one or more corresponding destination locations. In these cases, the individual UAVs in theUAV cluster10 might not require additional power resources or fuel reserves, but instead, be configured to include mostly UAVs designed to carry individual light loads. Such UAV cluster configurations would be different, however, than those of aUAV cluster10 configured to fly long distances and/or carry and deliver a heavy payload to a destination location. In these latter scenarios, it would be beneficial to configure theUAV cluster10 to include one or more UAVs specifically designed to provide additional power resources for the other UAVs.
• FIG. 18, for example, is a functional block diagram of apower resource component182 for a UAV specially configured to generate and distribute power to one or more other UAVs in aUAV cluster10. As seen inFIG. 18, thepower resource component182 comprises apower distribution section190 configured to distribute power resources to other UAVs in aUAV cluster10, and apower generator section200 configured to generate the power that gets distributed to other UAVs in aUAV cluster10.
• In more detail, thepower distribution section190 comprises a navigation, communications, andflight control circuit192, an electricalpower storage circuit194, and apower conditioner circuit196 operatively coupled to one or morepower distribution ports198. The navigation, communications, andflight control circuit192 comprises circuitry (e.g., a microprocessor or the like) configured to control the navigation and communications of the UAV configured with thepower resource component182. In particular, the navigation, communications, andflight control circuit192 is configured to exchange data and information with the processing circuits of the other UAVs to ensure that the UAV having the configured with thepower resource component182 knows of the flight plan, changes to the flight plan, and the like.
• Additionally, in some aspects, the navigation, communications, andflight control circuit192 exchanges messages with the circuitry of the other UAVs inUAV cluster10 to grant requests for additional power resources. Such requests can be received, for example, when another UAV in the cluster is running low on electrical power and requires a charge to continue its mission. In one aspect, received messages requesting the power resources are sent to thepower conditioner circuit196 for processing. As described in more detail below, thepower conditioner circuit196 can then provide the power resources to the requesting UAV.
• The electricalpower storage circuit194 comprises circuitry configured to store the electricity generated by thepower generator section200. In this aspect, thepower resource component182 can distribute the power stored in the electricalpower storage circuit194 to other UAVs under the control of thepower conditioner circuit196.
• Thepower conditioner circuit196, which also comprises a microprocessor circuit, grants or denies the requests for additional power resources received from the navigation, communications, andflight control circuit192. Provided the request is granted, thepower conditioner circuit196 generates the control signals required for the the power stored in the electricalpower storage circuit194 to the requesting UAVs via one or more of thepower distribution ports198. Additionally, in one aspect, thepower conditioner circuit196 is configured to condition the power resources provided to the power distribution ports. Such conditioning improves the quality of the electrical power provided to thepower distribution ports198 by removing power spikes, regulating the power levels, suppressing noise, and the like.
• Thepower generator section200 comprises amicro-turbine engine202 and agenerator220. Themicro-turbine engine202 further comprises afuel reservoir204, acombustion chamber206, acompressor208, anexhaust210, aturbine212. In operation, fuel fromfuel reservoir204 is provided to thecombustion chamber206 where it is mixed with airA entering compressor208 and burned. The resultant burning gases drive theturbine212, which in turn, drives thegenerator220 to generate electricity. The generated electricity is provided to thepower conditioner circuit196, which then conditions and stores the electrical power in the electricalpower storage circuit194 for later delivery to requesting UAVs via thepower distribution ports198, as previously described.
• The foregoing description and the accompanying drawings represent non-limiting examples of the methods and apparatus taught herein. As such, the aspects of the present disclosure are not limited by the foregoing description and accompanying drawings. Instead, the aspects of the present disclosure are limited only by the following claims and their legal equivalents.

Claims (35)

What is claimed is:

1. An unmanned aerial vehicle (UAV) cluster comprising:

a plurality of mission UAVs arranged in a cluster, with a set of one or more mission UAVs being configured for controlled independent flight; and

a plurality of core UAVs distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs according to a predefined mission characteristic of the UAV cluster.

2. The UAV cluster ofclaim 1 wherein each core UAV and each mission UAV in the UAV cluster is a same size and is congruent.

3. The UAV cluster ofclaim 1 wherein one or both of a number and type of core UAVs to be distributed throughout the UAV cluster is selected based on the predefined mission characteristic.

4. The UAV cluster ofclaim 3 wherein the predefined mission characteristic comprises one or more of:

a distance of a destination location from a launch location of the UAV cluster;

a type of mission the set of one or more mission UAVs are configured to perform;

a number of predetermined intermediate waypoints for the UAV cluster between the launch location of the UAV cluster and the destination location; and

a load characteristic of a load carried by the UAV cluster and delivered by the set of one or more mission UAVs.

5. The UAV cluster ofclaim 3 wherein one of the plurality of core UAVs to be distributed throughout the cluster comprises one of:

a propulsion UAV configured to augment a propulsion provided by each individual mission UAV in the cluster;

a fuel storage UAV comprising a fuel reservoir storing a fuel, and configured to augment the fuel consumed by each individual mission UAV in the cluster;

a power UAV configured to augment electrical power consumed by each individual mission UAV in the cluster; and

a sensor UAV comprising a sensor.

6. The UAV cluster ofclaim 5 wherein the sensor comprises a camera configured to capture an image of a destination location.

7. The UAV cluster ofclaim 5 wherein the sensor comprises a radar.

8. The UAV cluster ofclaim 1 wherein a first core UAV is configured to control an operation of each of the other core UAVs.

9. The UAV cluster ofclaim 8 wherein a second core UAV is configured to control an operation of one or more of the plurality of mission UAVs, the second core UAV being different from and controlled by the first core UAV.

10. An unmanned aerial vehicle (UAV) system comprising:

a plurality of individual UAVs arranged in a cluster, the plurality of individual UAVs comprising:

a plurality of mission UAVs, with a set of one or more mission UAVs being configured for controlled independent flight; and

a plurality of core UAVs distributed throughout the cluster according to a selected distribution pattern that distributes the core UAVs within the cluster according to a predefined mission characteristic of the UAV cluster.

11. The UAV system ofclaim 10 wherein the selected distribution pattern defines a corresponding position for each core UAV within the UAV cluster.

12. The UAV system ofclaim 10 wherein individual UAV in the UAV cluster comprises a same size and is congruent.

13. The UAV system ofclaim 10 wherein one or both of a number and type of core UAVs to be distributed throughout the UAV cluster is selected based on the predefined mission characteristic.

14. The UAV system ofclaim 10 wherein the predefined mission characteristic comprises one or more of:

a distance of a destination location from a launch location of the UAV cluster;

a type of mission the set of one or more mission UAVs are configured to perform;

a number of predetermined intermediate waypoints for the UAV cluster between the launch location of the UAV cluster and the destination location; and

a load characteristic of a load carried by the UAV cluster, and delivered by the set of one or more mission UAVs.

15. The UAV system ofclaim 10 wherein the plurality of core UAVs comprises:

a first core UAV configured to control an operation of each of the other core UAVs in the cluster; and

a second core UAV, different from the first core UAV, and configured to control operations of the plurality of mission UAVs.

16. A method of operating an unmanned aerial vehicle (UAV) cluster, the method comprising:

determining a mission characteristic of a mission assigned to a UAV cluster; and

based on the mission characteristic:

arranging a plurality of mission UAVs to form the UAV cluster, wherein one or more of the mission UAVs is configured for controlled independent flight;

selecting a distribution pattern for a plurality of core UAVs, wherein the distribution pattern identifies corresponding positions in the UAV cluster for each of the plurality of core UAVs; and

distributing the plurality of core UAVs throughout the UAV cluster according to the distribution pattern.

17. The method ofclaim 16 further comprising selecting one or both of a number and type of core UAVs to be distributed throughout the UAV cluster based on the mission characteristic.

18. The method ofclaim 16 wherein each of the mission UAVs and the core UAVs that form the UAV cluster comprises a same size and is congruent, and wherein selecting the distribution pattern for the plurality of core UAVs based on the mission characteristic comprises selecting the distribution pattern based on one or more of:

a distance of a destination location from a launch location of the UAV cluster;

a type of mission the set of one or more mission UAVs are configured to perform;

a number of intermediate waypoints between the launch location of the UAV cluster and the destination location for the UAV cluster; and

a characteristic of a load carried by the UAV cluster and delivered by the one or more mission UAVs.

19. The method ofclaim 16 wherein the plurality of mission UAVs and the plurality of core UAVs are releasably coupled to each other in the UAV cluster, and wherein the method further comprises communicatively connecting each of the core UAVs to one or more of the plurality of mission UAVs.

20. The method ofclaim 16 further comprising:

designating a first core UAV as a master core UAV;

controlling one or more second core UAVs using the master core UAV; and

controlling one or more of the mission UAVs using at least one of the second core UAVs.

21. A self-aligning docking mechanism for an unmanned aerial vehicle (UAV), the self-aligning docking mechanism comprising:

an alignment circuit configured to generate an alignment signal representing a current alignment of the UAV with a proximate UAV responsive to detecting an indicator signal emitted by the proximate UAV;

a docking jaw configured to grip a corresponding docking jaw disposed on the proximate UAV; and

a docking control circuit configured to:

align the docking jaw with the corresponding docking jaw on the proximate UAV based on the alignment signal; and

control the docking jaw to grip the corresponding docking jaw to dock the UAV to the proximate UAV.

22. The self-aligning docking mechanism ofclaim 21 further comprising an extendable arm configured to releasably attach to a corresponding extendable arm on the proximate UAV.

23. The self-aligning docking mechanism ofclaim 22 wherein the extendable arm comprises a magnetic component configured to releasably connect to a corresponding magnetic component disposed on the corresponding extendable arm of the proximate UAV.

24. The self-aligning docking mechanism ofclaim 21 further comprising a servo drive operatively connected to both the docking jaw and the docking control circuit, and wherein to align the docking jaw with the corresponding docking jaw, the docking control circuit is configured to:

determine whether the docking jaw is aligned with the corresponding docking jaw responsive to an analysis of the alignment signal; and

send an alignment message to the servo drive responsive to determining that the docking jaw and the corresponding docking jaw are not aligned.

25. The self-aligning docking mechanism ofclaim 24 wherein to align the docking jaw with the corresponding docking jaw, the servo drive is configured to:

generate one or more alignment commands responsive to receiving the alignment message from the docking control circuit; and

rotate the docking jaw about a longitudinal axis using the one or more alignment commands.

26. The self-aligning docking mechanism ofclaim 21 wherein the docking jaw is configured to move between an open state to undock from the corresponding docking jaw, and a closed state to dock with the corresponding docking jaw.

27. The self-aligning docking mechanism ofclaim 26 wherein the docking jaw comprises opposing first and second grippers constructed from a shape memory alloy, and wherein the docking control circuit is further configured to:

apply a first voltage to each of the first and second grippers to move the docking jaw to the open state, wherein the first voltage meets or exceeds a threshold value; and

reduce the first voltage being applied to the first and second grippers to a second voltage to move the docking jaw to the closed state, wherein the second voltage is less than the threshold value.

28. The self-aligning docking mechanism ofclaim 27 wherein to reduce the first voltage to the second voltage, the docking control circuit is configured to cease applying the first voltage to the first and second grippers.

29. A method of docking a first unmanned aerial vehicle (UAV) and a second UAV, the method implemented by the first UAV and comprising:

during a first docking stage:

generating an alignment signal indicating a current state of alignment between the first and second UAVs responsive to detecting an indicator signal emitted by the second UAV; and

during a second docking stage:

aligning a docking jaw of the first UAV to a corresponding docking jaw of the second UAV based on the alignment signal; and

docking the first and second UAVs, wherein the docking comprises controlling the docking jaw of the first UAV to grip the corresponding docking jaw of the second UAV.

30. The method ofclaim 29 further comprising, during the first docking stage, releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV.

31. The method ofclaim 30 wherein releasably coupling an arm extending from the first UAV to a corresponding arm extending from the second UAV comprises magnetically coupling the arm extending from the first UAV to the corresponding arm extending from the second UAV.

32. The method ofclaim 29 wherein aligning a docking jaw of the first UAV to a corresponding docking jaw of the second UAV based on the alignment signal comprises rotating the docking jaw of the first UAV about a longitudinal axis responsive to determining that the first and second UAVs are misaligned.

33. The method ofclaim 29 wherein the docking jaw of the first UAV comprises opposing first and second grippers constructed from a shape memory alloy, and wherein the method further comprises:

applying a first voltage to each of the first and second grippers to open the docking jaw, wherein the first voltage meets or exceeds a threshold value; and

reducing the first voltage being applied to the first and second grippers to a second voltage to close the docking jaw, wherein the second voltage is less than the threshold value.

34. The method ofclaim 33 wherein reducing the first voltage to the second voltage comprises ceasing to apply the first voltage to the first and second grippers.

35. A non-transitory computer-readable medium storing software instructions that, when executed by processing circuitry on a first unmanned aerial vehicle (UAV), causes the processing circuitry to:

during a first docking stage:

generate an alignment signal indicating a current state of alignment between a docking jaw of the first UAV and a corresponding docking jaw of a second UAV responsive to detecting an indicator signal emitted by the second UAV; and

during a second docking stage:

align the docking jaw of the first UAV with the corresponding docking jaw of the second UAV based on the alignment signal; and

dock the first and second UAVs by controlling the docking jaw of the first UAV to grip the corresponding docking jaw of the second UAV.

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