Patent Publication Number: US-2018033315-A1

Title: Systems and methods for transporting products via unmanned aerial vehicles and mobile relay stations

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Application No. 62/367,393, filed Jul. 27, 2016, and is incorporated herein by reference in its entirety. 
    
    
     TECHNICAL FIELD 
     This disclosure relates generally to transporting products and, in particular, to systems and methods for transporting products via unmanned aerial vehicles. 
     BACKGROUND 
     Product transportation and delivery using unmanned aerial vehicles (UAVs) is becoming popular. Typical UAVs have limited delivery range, since they are battery-powered. Some UAV-based delivery systems utilize stationary charging stations installed on rooftops of buildings, cellular towers, and other secure facilities, where the UAV can land and recharge while traveling along their delivery route. Since drone delivery is becoming increasingly popular, and since the delivery routes of UAV&#39;s constantly vary due to the large numbers of customers in different locations that order products to be delivered by drone, such UAV-based delivery systems increasingly depend on building and installing more and more charging stations for UAVs, which significantly increases operation costs of such systems. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Disclosed herein are embodiments of systems, devices, and methods pertaining to methods and systems for transporting products via UAVs and mobile relay stations. This description includes drawings, wherein: 
         FIG. 1  is a diagram of a system for transporting products via UAVs and mobile relay stations in accordance with some embodiments; 
         FIG. 2  is a functional block diagram of a central computing device in accordance with some embodiments; 
         FIG. 3  comprises a block diagram of a UAV as configured in accordance with various embodiments of these teachings; and 
         FIG. 4  is a flow diagram of a method of transporting product-containing packages via UAVs and mobile relay stations in accordance with some embodiments. 
     
    
    
     Elements in the figures are illustrated for simplicity and clarity and have not necessarily been drawn to scale. For example, the dimensions and/or relative positioning of some of the elements in the figures may be exaggerated relative to other elements to help to improve understanding of various embodiments of the present invention. Also, common but well-understood elements that are useful or necessary in a commercially feasible embodiment are often not depicted in order to facilitate a less obstructed view of these various embodiments. Certain actions and/or steps may be described or depicted in a particular order of occurrence while those skilled in the art will understand that such specificity with respect to sequence is not actually required. The terms and expressions used herein have the ordinary technical meaning as is accorded to such terms and expressions by persons skilled in the technical field as set forth above except where different specific meanings have otherwise been set forth herein. 
     DETAILED DESCRIPTION 
     The following description is not to be taken in a limiting sense, but is made merely for the purpose of describing the general principles of exemplary embodiments. Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment. 
     Generally, the systems, devices, and methods described herein provide for transporting products via UAVs and a network of mobile relay stations configured to accommodate and charge UAVs docked thereto. 
     In one embodiment, a system for delivering products from a first location to at least a second location includes: at least one unmanned aerial vehicle configured to transport at least one of the products from the first location to the second location along a predetermined route; at least one mobile relay station including at least one charging dock, the at least one charging dock configured to accommodate and charge the at least one unmanned aerial vehicle; and a central computing device including a processor-based control circuit and configured to communicate with the at least one unmanned aerial vehicle and the at least one mobile relay station via a network; wherein the at least one mobile relay station is configured to move into a position on the predetermined route of the at least one unmanned aerial vehicle to permit the at least one unmanned aerial vehicle to land on the at least one mobile relay station that is moved into the predetermined route of the at least one unmanned aerial vehicle. 
     In another embodiment, a method of delivering products from a first location to at least a second location includes: providing at least one unmanned aerial vehicle; transporting at least one of the products from the first location to the second location via the at least one unmanned aerial vehicle along a predetermined route; providing at least one mobile relay station including at least one charging dock; accommodating and charging the at least one unmanned aerial vehicle at the at least one charging dock; providing a central computing device including a processor-based control circuit and configured to communicate with the at least one unmanned aerial vehicle and the at least one mobile relay station via a network; moving the at least one mobile relay station into a position on the predetermined route of the at least one unmanned aerial vehicle; and permitting the at least one unmanned aerial vehicle to land on the at least one mobile relay station that is moved into the predetermined route of the at least one unmanned aerial vehicle. 
       FIG. 1  illustrates an embodiment of a system  100  for transporting at least one product  190   a - c  from one or more deployment stations  150   a - c  to one or more delivery locations  180   a - c  via one or more unmanned aerial vehicles (UAVs)  170   a - 170   c  and one or more mobile relay stations  160   a - c.  It will be understood that the details of this example are intended to serve in an illustrative capacity and are not necessarily intended to suggest any limitations in regards to the present teachings. 
     Generally, the exemplary system  100  includes at least one UAV (three UAVs  190   a - c  are shown in  FIG. 1 ) configured to lift, transport, and drop off at least one product (three products  190   a - c  are shown in  FIG. 1 ), as well as at least one mobile relay station (three mobile relay stations  160   a - e  are shown in  FIG. 1 ) configured to permit the UAVs  170   a - c  to land thereon and dock thereto in order to recharge while delivering the products  190   a - c  from at least one deployment station (three deployment stations  150   a - c  are shown in  FIG. 1 ) to at least one delivery location (three delivery locations  180   a - c  are shown in  FIG. 1 ). The exemplary system  100  also includes a processor-based central computing device  140  in two-way communication with the UAVs  170   a - c  and/or the mobile relay stations  160   a - c  via a communication channel  145  over the network  120 , and an electronic database  130  in two-way communication with at least the central computing device  140  via a communication channel  135  over the network  120 . It is understood that more or fewer of such components may be included in different embodiments of the system  100 . 
     While the present application refers to products  190   a - c  as the objects being transported by the UAVs  170   a - c,  it will be appreciated that the principles described herein are applicable to any object other than a product  190   a - c  that may be transported by the UAVs  170   a - c,  including but not limited to product packaging, boxes, totes, bins or the like. Generally, the products  190   a - c  transported by the UAVs  170   a - c  may be any products that can be ordered by a consumer from a retailer. As shown via the unnumbered two-way arrows in  FIG. 1 , the products  190   a - c  may be transported from one or more deployment station  150   a - c  of a retailer to one or more delivery locations  180   a - c.  A delivery location  180   a - c  may be a home address of a consumer or a facility operated by the retailer, for example, a distribution center, warehouse, or retail store of the retailer. Generally, the UAVs  170   a - c  are configured to fly above ground through a space, to land onto a mobile relay station  160   a - c,  and to dock to the mobile relay station  160   a - c  for recharging, as described in more detail below. 
     The UAVs  170   a - c  deployed in the exemplary system  100  do not require physical operation by a human operator and wirelessly communicate with, and are wholly or largely controlled by, the central computing device  140 . In particular, in some embodiments, the central computing device  140  is configured to control movement (e.g., flying, landing, taking off, etc.) of the UAVs  170   a - c  based on a variety of inputs. For example, the central computing device  140  is in two-way communication with the UAVs  170   a - c  (via communication channels  145  and  195   a - c ) over the network  120 , which may be one or more wireless networks of one or more wireless network types (such as, a wireless local area network (WLAN), a wireless personal area network (PAN), a wireless mesh network, a wireless star network, a wireless wide area network (WAN), a local area network (LAN), a cellular network, and combinations of such networks, and so on), capable of providing wireless coverage of the desired range of the UAVs  170   a - c  according to any known wireless protocols, including but not limited to a cellular, Wi-Fi or Bluetooth network. 
     In some embodiments, as will be described below, the central computing device  140  is configured to transmit at least one signal to one or more UAVs  170   a - c  to cause the UAVs  170   a - c  to fly toward and land onto or take off from one or more mobile relay stations  160   a - c  in order to recharge and/or to transport one or more products  190   a - c  toward their respective delivery locations  180   a - c.  The central computing device  140  of the exemplary system  100  of  FIG. 1  may be a stationary or portable electronic device, for example, a desktop computer, a laptop computer, a tablet, a mobile phone, or any other electronic device. In some embodiments, the central computing device  140  may comprise a control circuit, a central processing unit, a processor, a microprocessor, and the like, and may be one or more of a server, a central computing system including more than one computing device, a retail computer system, a cloud-based computer system, and the like. In the embodiment of  FIG. 1 , the central computing device  140  is configured for data entry and processing and for communication with other devices (e.g., UAVs  170   a - c,  mobile relay stations  160   a - e,  and deployment stations  150   a - c ) of system  100  via the network  120 . In some aspects, the central computing device  140  is configured for two-way communication via the network  120  with hand-held electronic devices of workers responsible for loading the products  190   a - c  into the UAVs  170   a - c  at their deployment stations  150   a - c.  In some aspects, the central computing device  140  is configured for two-way communication via the network  120  with hand-held electronic devices of drivers of vehicles that transport the mobile relay stations  160   a - c.    
     Generally, the central computing device  140  may be any processor-based device configured to communicate with the UAVs  170   a - c,  deployment stations  150   a - c,  and mobile relay stations  160   a - 160   c  in order to guide the UAVs  170   c  from their respective deployment stations  150   a - c  to their respective delivery locations  180   a - c  while docking at one or more mobile relay stations  160   a - c  to recharge, if necessary. The central computing device  140  may include a processor configured to execute computer readable instructions stored on a computer readable storage memory. The central computing device  140  may generally be configured to cause the UAVs  170   a - c  to: travel along a flight route determined by a control circuit of the central computing device  140  to a delivery location  180   a - c;  locate one or more mobile relay stations  160   a - c  positioned along the flight route predetermined by the central computing device  140 , land on and/or dock to one or more mobile relay stations  160   a - c  to recharge, undock and/or lift off from the mobile relay stations  160   a - c  when recharging is complete, and land and drop off the products  190   a - c  at their respective delivery locations  180   a - c.  In some embodiments, the central computing device  140  may be configured to determine whether one or more landing conditions for the UAVs  170   a - c  are met prior to instructing the UAV&#39;s to land onto a mobile relation station  160   a - c.    
     With reference to  FIG. 2 , the central computing device  140  configured for use with exemplary systems and methods described herein may include a control circuit  210  including a processor (e.g., a microprocessor or a microcontroller) electrically coupled via a connection  215  to a memory  220  and via a connection  225  to a power supply  230 . The control circuit  210  can comprise a fixed-purpose hard-wired platform or can comprise a partially or wholly programmable platform, such as a microcontroller, an application specification integrated circuit, a field programmable gate array, and so on. These architectural options are well known and understood in the art and require no further description here. 
     This control circuit  210  can be configured (for example, by using corresponding programming stored in the memory  220  as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein. In some embodiments, the memory  220  may be integral to the processor-based control circuit  210  or can be physically discrete (in whole or in part) from the control circuit  210  and is configured non-transitorily store the computer instructions that, when executed by the control circuit  210 , cause the control circuit  210  to behave as described herein. (As used herein, this reference to “non-transitorily” will be understood to refer to a non-ephemeral state for the stored contents (and hence excludes when the stored contents merely constitute signals or waves) rather than volatility of the storage media itself and hence includes both non-volatile memory (such as read-only memory (ROM)) as well as volatile memory (such as an erasable programmable read-only memory (EPROM))). Accordingly, the memory and/or the control circuit may be referred to as a non-transitory medium or non-transitory computer readable medium. 
     The control circuit  210  of the central computing device  140  is also electrically coupled via a connection  235  to an input/output  240  (e.g., wireless interface) that can receive wired or wireless signals from one or more of the UAVs  170   a - c.  Also, the input/output  240  of the central computing device  140  can send signals to the UAVs  170   a - c,  such as signals including instructions indicating which mobile relay station  160   a - c  to land on for recharging along the predetermined flight route of the UAVs  170   a - c  to their respective delivery locations  180   a - c.    
     In the embodiment shown in  FIG. 2 , the processor-based control circuit  210  of the central computing device  140  is electrically coupled via a connection  245  to a user interface  250 , which may include a visual display or display screen  260  (e.g., LED screen) and/or button input  270  that provide the user interface  250  with the ability to permit an operator of the central computing device  140 , such as a worker at a facility of the retailer where the system  100  is implemented, to manually control the central computing device  140  by inputting commands via touch-screen and/or button operation and/or voice commands to, for example, to send a signal to a UAV  170   a - c  to instruct the UAV  170   a - c  to: fly to a location of a mobile relay station  160   a - c;  control directional movement of the UAV  170   a - c  while the UAV  170   a - c  is in flight along a route predetermined by the central computing device  140 ; control and/or modify the flight route of the UAV  170   a - c  while the UAV  170   a - c  is in flight; land onto a mobile relay station  160   a - c;  drop off a product  190   a - c  at a mobile relay station  160   a - c,  pick up a product from a mobile relay station  160   a - c;  lift off a mobile relay station  160   a - c,  land at a delivery location  180   a - c;  and drop off a product  190   a - c  at a delivery location  180   a - c.  It will be appreciated that the performance of such functions by the processor-based control circuit  210  of the central computing device  140  is not dependent on actions of a human operator, and that the control circuit  210  may be programmed to perform such functions without being actively controlled by a human operator. 
     In some embodiments, the display screen  260  of the central computing device  140  is configured to display various graphical interface-based menus, options, and/or alerts that may be transmitted from and/or to the central computing device  140  in connection with various aspects of transporting products  190   a - c  by the UAVs  170   a - c  via the mobile relay stations  160   a - c.  The inputs  270  of the central computing device  140  may be configured to permit an operator to navigate through the on-screen menus on the central computing device  140  and make changes and/or updates to the routes and destinations of the UAVs  170   a - c,  as well as to make changes and/or updates to the locations of the mobile relay stations  160   a - c.  It will be appreciated that the display screen  260  may be configured as both a display screen and an input  270  (e.g., a touch-screen that permits an operator to press on the display screen  260  to enter text and/or execute commands.) 
     In some embodiments, the inputs  270  of the user interface  250  of the central computing device  140  may permit an operator to enter and configure a delivery order for a product  190   a - c  to a delivery location  180   a - c  for a UAV  170   a - c.  For example, an operator may use the user interface  250  to identify a delivery location  180   a - c  for a UAV  170   a - c  where products  190   a - c  are to be delivered, and/or to identify a location (e.g., positioning coordinates) of a mobile relay station  160   a - c  positioned along a delivery route of the UAV  170   a - c  to the delivery location  180   a - c.    
     In some embodiments, the central computing device  140  automatically generates a travel route for one or more of the UAVs  170   a - c  from their origin (e.g., deployment station  150   a - c ) to their destination (e.g., delivery location  180   a - c ). In some embodiments, this route is based on a starting location of a UAV  170   a - c  (e.g., location of deployment station  150   a - c  of origin), the intended destination of the UAV  170   a - c  (e.g., delivery location  180   a - c,  or a suitable mobile relay station  160   a - c  along the predetermined or modified delivery route). In some aspects, the central computing device  140  may calculate multiple possible optimum routes. In some embodiments, the system  100  is capable of integrating 2D and 3D maps of the navigable space of the UAVs  170   a - c  with physical locations of objects at the origin/destination locations. Once the central computing device  140  maps all objects to specific locations using algorithms, measurements and global position system (GPS) geo-location, for example, grids may be applied sectioning off the maps into access ways and blocked sections, enabling the UAVs  170   a - c  to use such grids for navigation and recognition. The grids may be applied to 2D horizontal maps along with 3D models. Such grids may start at a higher unit level and then can be broken down into smaller units of measure by the central computing device  140  when needed to provide more accuracy. 
     In the embodiment shown in  FIG. 1 , the central computing device  140  is configured to access at least one electronic database  130 . The central computing device  140  and the electronic database  130  may be implemented as separate physical devices as shown in  FIG. 1  (which may be at one physical location or two separate physical locations), or may be implemented as a single device. In some embodiments, the electronic database  130  may be stored, for example, on non-volatile storage media (e.g., a hard drive, flash drive, or removable optical disk) internal or external to the central computing device  140 , or internal or external to computing devices distinct from the central computing device  140 . In some embodiments, the electronic database  130  is cloud-based. 
     The exemplary electronic database  130  of  FIG. 1  is configured to store electronic data including, but not limited to: (1) data associated with the products  190   a - c  (e.g., location of origin of a product  190   a - c,  destination of the product  190   a - c,  size of the product  190   a - c,  location of the product  190   a - c  while being transported by a UAV  170   a - c,  as well as storage requirements for the product  190   a - c,  special instructions for the product  190   a - c,  etc.); (2) data associated with the UAVs  170   a - c  being used to transport the products  190   a - c  (e.g., location of each UAV  170   a - c  (e.g., GPS coordinates, etc.), identification of one or more products  190   a - c  in the UAV  170   a - c,  route of the UAV  170   a - c  from the deployment station  150   a - c  to the delivery location  180   a - c,  communication signals and/or messages sent between the central computing device  140  and the UAVs  170   a - c,  as well as any communications (e.g., messages and/or alerts) sent between the UAVs  170   a - c  and/or between the UAVs  170   a - c  and the mobile relay stations  160   a - c ); and (3) data associated with the mobile relay stations  160   a - c  (e.g., location of each mobile relay station  160   a - c  (e.g., GPS coordinates, etc.), identification of one or more UAVs  170   a - c  at each mobile relay station  160   a - c,  as well as communication signals and/or messages sent between the central computing device  140  and the mobile relay stations  160   a - c ). 
     In some embodiments, location inputs are provided via the network  120  to the central computing device  140  to enable the central computing device  140  to determine the location of one or more of the UAVs  170   a - c  and/or one or more mobile relay stations  160   a - c  and/or one or more products  190   a - c.  For example, in some embodiments, the UAVs  170   a - c  and/or the mobile relay stations  160   a - c  and/or the products  190   a - c  may include GPS tracking devices that permit a GPS-based identification of the location of the UAVs  170   a - c  and/or the mobile relay stations  160   a - c  and/or the products  190   a - c  by the central computing device  140  via the network  120 . In one aspect, the central computing device  140  is configured to track the location of the UAVs  170   a - c  and the mobile relay stations  160   a - c,  and determine, via the control circuit  210 , an optimal route for the UAVs  170   a - c  from their respective starting deployment stations  150   a - c  to their respective destination delivery locations  180   a - c.  In some embodiments, the control circuit  210  of the central computing device  140  is programmed to cause the central computing device  140  to communicate such tracking and/or routing data to the electronic database  130  for storage and/or later retrieval. 
     Generally, the UAVs  170   a - c  of  FIG. 1  is configured to transport products  190   a - c  from a deployment station  150   a - c  to a delivery location  180   a - c.  While the UAVs  170  are generally described herein, in some embodiments, an aerial vehicle remotely controlled by a human may be utilized with the systems and methods described herein without departing from the spirit of the present disclosure. In some embodiments, the UAV  170   a - c  may be in the form of a multicopter, for example, a quadcopter, hexacopter, octocopter, or the like. In some embodiments, as described in more detail below, the UAV  170   a - c  includes a communication device (e.g., wireless transceiver) configured to communicate with the central computing device  140  while the UAV  170   a - c  is in flight and/or when docked at a mobile relay station  160   a - c.    
     In some embodiments, as described in more detail below, the UAV  170   a - c  may comprise one or more mobile relay station-associated sensors including but not limited to: an optical sensor, a camera, an RFID scanner, a short range radio frequency transceiver, etc. Generally, the mobile relay station-associated sensors of the UAV  170   a - c  are configured to detect and/or identify a mobile relay station  160   a - c  based on guidance systems and/or identifiers of the mobile relay station  160   a - c.  For example, the mobile relay station-associated sensor of the UAV  170   a - c  may be configured to capture identifying information of the mobile relay station  160   a - c  from one or more of a visual identifier, an optically readable code, a radio frequency identification (RFID) tag, an optical beacon, and a radio frequency beacon. 
     In some embodiments, the UAV  170   a - c  may include other flight sensors such as optical sensors and radars for detecting obstacles in the path of flight to avoid collisions. While only three UAVs  170   a - c  are shown in  FIG. 1  for ease of illustration, it will be appreciated that in some embodiments, the central computing device  140  may communicate with and/or provide flight route instructions to more than three (e.g., 10, 20, 50, 100, 1000, or more) UAVs simultaneously to guide the UAVs to transport products to their respective delivery locations and/or to dock to suitable mobile relay stations along a flight route predetermined and/or modified by the central computing device  140 . Similarly, while only three deployment stations  150   a - c,  three mobile relay stations  160   a - c,  and three delivery locations  180   a - c  are shown in  FIG. 1  for ease of illustration, it will be appreciated that in some embodiments, the system  100  may include more than three (e.g., 10, 20, 50, 100, 1000, or more) deployment stations, mobile relay stations, and delivery locations. 
     A deployment station  150   a - c  of  FIG. 1  is generally a device configured to permit at least one UAV  170   a - c  to dock thereto for recharging. The deployment station  150   a - c  may be installed at a warehouse, retail facility, distribution center, or the like facilities from which products  190   a - c  may be delivered to another location (e.g., delivery location  180   a - c ) via UAVs  170   a - c.  Unlike the mobile relay stations  160   a - c  described below, the deployment stations  150   a - c  are stationary and not intended to be moved from their installed location. It will be appreciated that the stationary deployment stations  150   a - c  shown in  FIG. 1  are optional to the system  100 , and that in some embodiments, all stationary deployment stations  150   a - c  of  FIG. 1  are replaced by mobile relay stations  160   a - c,  which in effect act as mobile deployment stations in such embodiments. 
     In one aspect, the deployment station  150   a - c  includes at least one charging dock  152   a - c  that enables at least one UAV  170   a - c  to connect thereto and charge. In some embodiments, a UAV  170   a - c  may couple to a charging dock  152   a - c  of a deployment station  150   a - c  while being supported by at least one support surface of the deployment station  150   a - c.  In one aspect, a support surface of the deployment station  150   a - c  may comprise one or more of a padded layer and a foam layer configured to reduce the force of impact associated with the landing of a UAV  170   a - c  onto the support surface of the deployment station  150   a - c.  In some embodiments, a deployment station  150   a - c  may include lights and/or guidance inputs recognizable by the sensors of the UAV  170   a - c  when located in the vicinity of the deployment station  150   a - c.  In some embodiments, the deployment station  150   a - c  may also include one or more coupling structures configured to permit the UAV  170   a - c  to detachably couple to the deployment station  150   a - c  while being coupled to a charging dock  152   a - c  of the deployment station  150   a - c.    
     A mobile relay station  160   a - c  of  FIG. 1  is generally a device configured to permit at least one UAV  170   a - c  to dock thereto and charge. Unlike the deployment station  150   a - c  described above, the mobile relay station  160   a - c  is a mobile device that is configured to be moved and/or to independently move into a position on a flight route predetermined by the central computing device  140  for a UAV  170   a - c  to permit the UAV  170   a - c  to land on the mobile relay station  160   a - c  that is moved into the predetermined route of the UAV  170   a - c.  In some aspects, the mobile relay station  160   b  may move or be moved into a position on a predetermined route of a UAV  170   a  flying from the mobile relay station  160   a  to the delivery location  180   a.  In other aspects, the mobile relay station  160   b  may move or be moved into a position on a predetermined route of a UAV  170   a  flying from the mobile relay station  160   a  to the mobile relay station  160   c.    
     In some embodiments, a mobile relay station  160   a - c  may be located on a delivery truck of a retailer, such that the mobile relay station  160   a - c  moves from location to location as determined by the central computing device  140  when the delivery truck moves. In one aspect, the mobile relay station  160   a - c  may be removably attached to a body of any moving vehicle (truck, car, motorcycle, train, etc.). In another aspect, the mobile relay station  160   a - c  may be transported within a cargo space of any moving vehicle and taken out by an operator (e.g., driver), when appropriate, to enable one or more UAVs  170   a - c  to dock thereto at charging docks  162   a - c.  In some embodiments, a moving vehicle that facilitates movement of mobile relay stations  160   a - c  includes a GPS tracking device that permits a GPS-based identification of the location of the moving vehicle and/or the UAVs  170   a - c  by the central computing device  140  via the network  120 . 
     In some embodiments, a UAV  170   a - c  is configured as a mobile relay station  160   a - c  including one or more charging docks  162   a - c,  such that the mobile relay station  160   a - c  may move by flying above ground, under guidance of the central computing device  140  (or a human operator), into a position (e.g., on the ground, on a roof of a building, on a balcony, on a storage container, on a landing area at a retailer-operated secure location, or the like) along a predetermined flight route of a UAV  170   a - c  without the aid of a separate moving vehicle to transport the mobile relay station  160   a - c.  In one aspect, an unmanned ground vehicle (UGV) may be configured as a mobile relay station  160   a - c  including one or more charging docks  162   a - c,  such that the mobile relay station  160   a - c  may move by moving on the ground, under guidance of the central computing device  140  (or a human operator), into a position along a predetermined flight route of a UAV  170   a - c  without the aid of a separate moving vehicle to transport the mobile relay station  160   a - c.    
     In one aspect, the mobile relay station  160   a - c  includes at least one charging dock  162   a - c  that enables at least one UAV  170   a - c  to connect thereto. In some embodiments, a UAV  170   a - c  may couple to a charging dock  162   a - c  of a mobile relay station  160   a - c  while being supported by at least one support surface of the mobile relay station  160   a - c.  In one aspect, a support surface of the mobile relay station  160   a - c  may comprise one or more of a padded layer and a foam layer configured to reduce the force of impact associated with the landing of a UAV  170   a - c  onto a support surface of a mobile relay station  160   a - c.    
     In some embodiments, the mobile relay station  160   a - c  is configured (e.g., by including a transceiver) to send a signal over the network  120  to the central computing device  140  to indicate if one or more charging docks  162   a - c  of the mobile relay station  160   a - c  are available to accommodate one or more UAVs  170   a - c.  In one aspect, the mobile relay station  160   a - c  is configured to send a signal over the network  120  to the central computing device  140  to indicate a number of charging docks  162   a - c  available for the UAV  170   a - c  on the mobile relay station  160   a - c.  In such situations, the control circuit  210  of the central computing device  140  is programmed to guide the UAV  170   a - c  to a mobile relay station  160   a - c  moved into position along the predetermined route of the UAV  170   a - c  and having at least one available charging dock  162   a - c.    
     In some aspects, a signal received by the central computing device  140  from a mobile relay station  160   a - c  indicates that no charging docks  162   a - c  for the UAVs  170   a - c  are available at a mobile relay station  160   a - c  moved into position along the predetermined route of the UAV  170   a - c.  In such situations, the control circuit  210  of the central computing device  140  is programmed to determine an alternative mobile relay station  160   a - c  already located (or to be guided into position) along the predetermined route of the UAV  170   a - c  and having at least one available charging dock  162   a - c,  and to send a signal to the UAV  170   a - c  to direct the UAV  170   a - c  along a newly determined route to the alternative mobile relay station  160   a - c  having one or more available charging docks  162   a - c.  In some embodiments, the control circuit  210  of the central computing device  140  is configured to modify the predetermined route of a UAV  170   a - c  including a mobile relay station  160   a - c  not having available charging docks  162   a - c  by generating a modified route for the UAV  170   a - c  and sending a signal to the alternative mobile relay station  160   a - c  having available charging docks  162   a - c  to cause the alternative mobile relay station  160   a - c  having available charging docks  162   a - c  to move into a position on the modified route to enable the UAV  170   a  to dock to the alternative mobile relay station  160   a - c.    
     In some embodiments, the mobile relay station  160   a - c  is configured to permit one UAV  170   a - c  to land thereon and/or to dock (e.g., via the charging dock  162   a - c ) thereto, and to release its respective product  190   a - c  therefrom onto a support surface of the mobile relay station  160   a - c.  In such embodiments, a second UAV  170   a - c  picks up the product  190   a - c  released by the first UAV  170   a - c  and transports the picked up product  190   a - c  from the mobile relay station  160   a - c  toward the next destination of the product  190   a - c  (which may be another mobile relay station  160   a - c  or a delivery location  180   a - c ). Such mobile relay stations  160   a - c  where the product  190   a - c may be dropped off by one UAV  170   a - c  and picked up by another UAV  170   a - c  advantageously reduce and/or eliminate delays that may be associated with recharging of the UAVs  170   a - c  while delivering products  190   a - c  over distances that exceed the range of the UAVs  170   a - c.    
     In some embodiments, a mobile relay station  160   a - c  may include lights and/or guidance inputs recognizable by the sensors of the UAV  170   a - c  when located in the vicinity of the mobile relay station  160   a - c.  In some aspects, the mobile relay stations  160   a - c  and the UAVs  170   a - c  are configured to communicate with one another via the network (e.g., via their respective transceivers) to facilitate the landing of the UAVs  170   a - c  onto the mobile relay stations  160   a - c.  In other aspects, the transceivers of the mobile relay stations  160   a - c  enable the mobile rely stations to communicate with one another via the network  120 . In some embodiments, the mobile relay station  160   a - c  may also include one or more coupling structures configured to permit the UAV  170   a - c  to detachably couple to the mobile relay station  160   a - c  while being coupled to a charging dock  162   a - c  of the mobile relay station  160   a - c.  It will be appreciated that the relative sizes and proportions of the deployment station  150   a - c,  mobile relay station  160   a - c,  UAV  170   a - c,  and products  190   a - c  in  FIG. 1  are exemplary and are not drawn to scale. In some embodiments, the mobile relay stations  160   a - c,  UAVs  170   a - c,  and deployment stations  150   a - c  may comprise any size and shape without departing from the spirit of the present disclosure. 
       FIG. 3  presents a more detailed example of some embodiments of a UAV  370  identical to the UAVs  170   a - c  of  FIG. 1 . In this example, the UAV  370  has a housing  302  that contains (partially or fully) or at least supports and carries a number of components. These components include a control unit  304  comprising a control circuit  306  that, like the control circuit  210  of the central computing device  140 , controls the general operations of the UAV  370 . The control unit  304  includes a memory  308  coupled to the control circuit  306  for storing data such as operating instructions and/or useful data. 
     In some embodiments, the control circuit  306  operably couples to a motorized leg system  310 . This motorized leg system  310  functions as a locomotion system to permit the UAV  370  to land onto the mobile relay station  160   a - c  and/or move laterally on the mobile relay station  160   a - c.  An exemplary motorized leg system usable with the system  100  is described in U.S. Provisional Application No. 62/331,854, filed May 4, 2016, incorporated by reference herein in its entirety. Various examples of motorized leg systems are known in the art. Further elaboration in these regards is not provided here for the sake of brevity save to note that the aforementioned control circuit  306  may be configured to control the various operating states of the motorized leg system  310  to thereby control when and how the motorized leg system  310  operates. 
     In the exemplary embodiment of  FIG. 3 , the control circuit  306  operably couples to at least one wireless transceiver  312  that operates according to any known wireless protocol. This wireless transceiver  312  can comprise, for example, a cellular-compatible, Wi-Fi-compatible, and/or Bluetooth-compatible transceiver that can wirelessly communicate with the central computing device  140  via the network  120 . So configured, the control circuit  306  of the UAV  370  can provide information to the central computing device  140  (via the network  120 ) and can receive information and/or movement instructions from the central computing device  140 . For example, the control circuit  306  can receive instructions from the central computing device  140  via the network  120  regarding directional movement (e.g., specific predetermined routes of movement) of the UAV  370  when transporting a product  190   a - c  to a from a mobile relay station  160   a - c.    
     These teachings will accommodate using any of a wide variety of wireless technologies as desired and/or as may be appropriate in a given application setting. These teachings will also accommodate employing two or more different wireless transceivers  312 , if desired. In some embodiments, the wireless transceiver  312  may be caused (e.g., by the control circuit  306 ) to transmit to the central computing device  140  at least one signal indicating that one or more products  190   a - c  have been picked up from (or dropped off onto) a mobile relay station  160   a - c.  In some aspects, the wireless transceiver  312  is configured to receive a signal from the central computing device  140  indicating a location (e.g., another mobile relay station  160   a - c ) where the product  190   a - c  picked up from the mobile relay station  160   a - c  is to be transported. 
     The control circuit  306  also couples to one or more on-board sensors  314  of the UAV  370 . These teachings will accommodate a wide variety of sensor technologies and form factors. By one approach, the on-board sensors  314  can comprise at least one sensor configured to recognize the mobile relay station  160   a - c  and at least one sensor configured to detect whether the product  190   a - c  is present on the mobile relay station  160   a - c.  Such sensors  314  can provide information that the control circuit  306  and/or the central computing device  140  can employ to determine a present location and/or orientation of the UAV  370  relative to a mobile relay station  160   a - c  and/or to determine, for example, whether to direct a second UAV  370  to land on the mobile relay station  160   a - c  (e.g., to pick up a product  190   a  dropped off by a first UAV  370  on the mobile relay station  160   a - c ), or whether to direct the second UAV  370  not to land on the mobile relay station  160   a - c  (e.g., if the product  190   a  is not detected on the mobile relay station  160   a - c ). For example, the UAV  370  may include an on-board sensor  314  in the form of a video camera configured to detect whether the product  190   a  is present on the mobile relay station  160   a - c  or not. 
     In some embodiments, the on-board sensors  314  may include at least one sensor configured to detect a distance from the body of the UAV  370  to a mobile relay station  160   a - c  or to a product  190   a - c  located on the mobile relay station  160   a - c.  For example, the control circuit  306  of the UAV  370  may be programmed to determine, based on data received from such an on-board sensor  314  indicating the distance from the housing of the UAV  370  to the mobile relay station  160   a - c  and/or to the product  190   a - c  in order to enable the UAV  370  to land onto the mobile relay station  160   a - c  to drop off a products  190   a - c  for another UAV  370  or to pick up a product  190   a - c  dropped off by another UAV  370 . 
     These teachings will accommodate any of a variety of distance measurement units including optical units and sound/ultrasound units. In one example, a sensor  314  comprises an altimeter and/or a laser distance sensor device capable of determining a distance to objects in proximity to the sensor. In some embodiments, the sensor  314  comprises an optical-based scanning device to sense and read optical patterns in proximity to the sensor, such as bar codes located on the mobile relay station  160   a - c  and/or on the product  190   a - c.  In some embodiments, the sensor  314  comprises a radio frequency identification (RFID) tag reader capable of reading RFID tags in proximity to the sensor. The foregoing examples are provided by way of example only and are not intended to convey an exhaustive listing of all possible distance sensors. 
     In some embodiments, the UAV  370  may detect objects along its path of travel using, for example, on-board sensors  314  such as sensors mounted on the UAV  370  and/or via communications with the central computing device  140 . In some embodiments, the UAV  370  may attempt to avoid obstacles, and if unable to avoid, it will notify the central computing device  140  of such a condition. In some embodiments, using on-board sensors  314  (such as distance measurement units, e.g., laser or other optical-based distance measurement sensors), the UAV  370  detects obstacles in its path, and fly around such obstacles or to stop until the obstacle is clear. 
     By one optional approach, an audio input  316  (such as a microphone) and/or an audio output  318  (such as a speaker) can also operably couple to the control circuit  306  of the UAV  370 . So configured, the control circuit  306  can provide for a variety of audible sounds to enable the UAV  370  to communicate with a mobile relay station  160   a - c  or other UAVs  370 . Such sounds can include any of a variety of tones and other non-verbal sounds. Such audible sounds can also include, in lieu of the foregoing or in combination therewith, pre-recorded or synthesized speech. 
     In the embodiment illustrated in  FIG. 3 , the UAV  370  includes a rechargeable power source  320  such as one or more batteries. The power provided by the rechargeable power source  320  can be made available to whichever components of the UAV  370  require electrical energy. By one approach, the UAV  370  includes a plug or other electrically conductive interface that the control circuit  306  can utilize to automatically connect to an external source of electrical energy (e.g., charging docks  162   a - c  of mobile relay stations  160   a - c ) to recharge the rechargeable power source  320 . 
     These teachings will also accommodate optionally selectively and temporarily coupling the UAV  370  to the mobile relay station  160   a - c.  In such a case, the UAV  370  can include a mobile relay station coupling structure  322 . In one aspect, a mobile relay station  160   a - c  coupling structure  322  operably couples to a control circuit  306  to thereby permit the latter to control movement of the UAV  370  (e.g., via hovering and/or via the motorized leg system  310 ) towards a particular mobile relay station  160   a - c  until the mobile relay station coupling structure  322  can engage the mobile relay station  160   a - c  to thereby temporarily physically couple the UAV  370  to the mobile relay station  160   a - c.  So coupled, the UAV  370  can then pick up and/or drop off the product  190   a - c  from and/or onto the mobile relay station  160   a - c.    
     In some embodiments, the motorized transport unit  360  includes an input/output (I/O) device  324  that is coupled to the control circuit  306 . The I/O device  324  allows an external device to couple to the control unit  304 . The function and purpose of connecting devices will depend on the application. In some examples, devices connecting to the I/O device  324  may add functionality to the control unit  304 , allow the exporting of data from the control unit  304 , allow the diagnosing of the UAV  370 , and so on. 
     In some embodiments, the UAV  370  includes a user interface  326  including for example, user inputs and/or user outputs or displays depending on the intended interaction with the user (e.g., a worker at a distribution facility of a retailer and/or a driver of a vehicle that transports a mobile relay station  160   a - c ). For example, user inputs could include any input device such as buttons, knobs, switches, touch sensitive surfaces or display screens, and so on. Example user outputs include lights, display screens, and so on. The user interface  326  may work together with or separate from any user interface implemented at an optional user interface unit (such as a smart phone or tablet device) usable by a worker at a facility of a retailer or a delivery driver. 
     In some embodiments, the UAV  370  may be controlled by a user in direct proximity to the UAV  370  (e.g., a driver of a moving vehicle used for moving the mobile relay station  160   a - c,  or by a user at any location remote to the location of the UAV  370  (e.g., central hub operator). This is due to the architecture of some embodiments where the central computing device  140  outputs the control signals to the UAV  370 . These controls signals can originate at any electronic device in communication with the central computing device  140 . For example, the movement signals sent to the UAV  370  may be movement instructions determined by the central computing device  140  and/or initially transmitted by a device of a user to the central computing device  140  and in turn transmitted from the central computing device  140  to the UAV  370 . 
     The control unit  304  of the UAV  370  includes a memory  308  coupled to a control circuit  306  and storing data such as operating instructions and/or other data. The control circuit  306  can comprise a fixed-purpose hard-wired platform or can comprise a partially or wholly programmable platform. These architectural options are well known and understood in the art and require no further description. This control circuit  306  is configured (e.g., by using corresponding programming stored in the memory  308  as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein. The memory  308  may be integral to the control circuit  306  or can be physically discrete (in whole or in part) from the control circuit  306  as desired. This memory  308  can also be local with respect to the control circuit  306  (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuit  306 . This memory  308  can serve, for example, to non-transitorily store the computer instructions that, when executed by the control circuit  306 , cause the control circuit  306  to behave as described herein. It is noted that not all components illustrated in  FIG. 3  are included in all embodiments of the UAV  370 . That is, some components may be optional depending on the implementation. 
     In view of the above description referring to  FIGS. 1-3 , and with reference to  FIG. 4 , a method  400  of delivering products from a first location to one or more other locations according to some embodiments will now be described. While the process  400  is discussed as it applies to the delivery of products  190   a - c  to delivery locations  180   a - c  via UAVs  170   a - c  and mobile relay stations  160   a - c,  as shown in  FIGS. 1-3 , it will be appreciated that the process  400  may be utilized in connection with any of the embodiments described herein. 
     The exemplary method  400  depicted in  FIG. 4  includes providing one or more UAV  170   a - c  (step  410 ) and transporting one or more products  190   a - c  from a first location to a second location via the UAV  170   a - c  along a predetermined route (step  420 ). The method  400  also includes providing one or more mobile relay stations  160   a - c  including one or more charging dock  162   a - c  (step  430 ). As discussed above, in some embodiments, the step of providing one or more mobile relay stations  160   a - c  may include providing one or more UAVs or UGVs configured as mobile relay stations including one or more charging docks such that a separate moving vehicle is not required to move the mobile relay stations  160   a - c  to their positions along a flight route of a UAV  170   a - c.  In other embodiments, a separate moving vehicle is utilized to move the mobile relay stations  160   a - c  into the positions determined by the central computing device  140  along the predetermined flight route of a UAV  170   a - c  that transports the products  190   a - c  from a deployment station  150   a - c  to a delivery location  180   a - c.    
     In one aspect, the first location may be a deployment station  150   a - c  and the second location may be a delivery location  180   a - c.  In another aspect, the first location may be a deployment station  150   a - c  and the second location may be a mobile relay station  160   a - c.  In yet another aspect, the first location may be one mobile relay station  160   a - c  and the second location may be another mobile relay station  160   a - c.  In yet another aspect, the first location may be a mobile relay station  160   a - c  and the second location may be a delivery location  180   a - c.  To that end, the method  400  includes accommodating and charging one or more UAVs  170   a - c  at one or more mobile relay stations  160   a - c  (step  440 ) as described above. In other words, during the course of a flight route determined by the central computing device  140  for a UAV  170   a  originating from deployment station  150   a  and delivering a product  190   a  to the delivery location  180   a,  the UAV  170   a  may be directed by the central computing device  140  to dock for recharging at any one, any two, all three of the mobile relay stations  160   a - c  in order to recharge. In some aspects, as described above, after the UAV  170   a  docks at a charging dock  162   a  of a mobile relay station  160   a,  the UAV  170   a  may drop off the product  190   a  at the mobile relay station  160   a,  and another UAV  170   b  may be directed by the central computing device  140  to pick up the product  190   a  dropped off by the UAV  170   a,  and to transport the product  190   a  to another mobile relay station or a delivery location. 
     The method  400  further includes providing a central computing device  140  including a processor-based control circuit  210  and configured to communicate with one or more UAV  170   a - c  and with one or more mobile relay station  160   a - c  via a network  120  (step  450 ). The central computing device  140  was described in detail above and generally tracks the locations of the UAVs  170   a - c  and the mobile relay stations  160   a - c,  and controls the movement of the UAVs  170   a - c  and the positioning of the mobile relay stations  160   a - c  to guide the UAVs  170   a - c  to their suitable mobile relay stations  160   a - c  along their delivery route and enable the recharging of the UAVs  170   a - c  while delivering the products  190   a - c  from their deployment stations  150   a - c  to their delivery locations  180   a - c.  It will be appreciated that while the mobile relay stations  160   a - c  and the deployment stations  150   a - c  are not connected to the network  120  by lines indicating a communication channel (akin to lines  135 ,  145 , and  195   a - c ), each deployment station  150   a - c  and each mobile relay station  160   a - c  is configured for communication with the electronic database  130 , central computing device  140 , the UAVs  170   a - c,  and each other via the network  120 . 
     The method  400  of  FIG. 4  further includes moving one or more mobile relay stations  160   a - c  into a position on the predetermined route of the at least one UAV  170   a - c  (step  460 ) and permitting the one or more UAVs  170   a - c  to land on the one or more mobile relay stations  160   a - c  moved into the predetermined route of the one or more UAVs  170   a - c  (step  470 ). As discussed above, in some embodiments, the UAVs  170   a - c  and/or the mobile relay stations  160   a - c  include GPS tracking devices that permit a GPS-based identification of the location and tracking of the UAVs  170   a - c  and the mobile relay stations  160   a - c  by the central computing device  140  via the network  120 . As also discussed above, in some embodiments, the central computing device  140  initially determines a flight route and controls the movement of the UAVs  170   a - c  from their respective starting deployment stations  150   a - c  to their respective destination delivery locations  180   a - c  while continuously tracking the location of the UAVs  170   a - c.  In addition, the central computing device  140  controls the movement of the mobile relay stations  160   a - c  while continuously tracking the location of the mobile relay stations  160   a - c.  In some aspects, the control circuit  210  of the central computing device  140  determines optimal positions of the mobile relay stations  160   a - c  along the predetermined delivery route of a UAV  170   a - c  toward its delivery location  180   a - c,  and sends signals over the network  120  to the mobile relay stations  160   a - c  to direct the mobile relay stations  160   a - c  to move into such optimal positions determined by the computing device  140 . Since the central computing device  140  controls the movement of the UAVs  170   a - c  and the mobile relay stations  160   a - c  while continuously tracking the location of the UAVs  170   a - c  and the mobile relay stations  160   a - c,  the central computing device  140 , not only causes the mobile relay stations  160   a - c  to move into optimal recharging positions along the delivery routes of the UAVs  170   a - c,  but, after directing the mobile relay stations  160   a - c  into the optimal charging positions, sends signals over the network  120  to the UAVs  170   a - c  to direct movement of the UAVs  170   a - c  in need of recharging to the mobile relay stations  160   a - c  that are directed to be positioned by the central computing device  140  along the delivery routes of the UAVs  170   a - c  to enable the UAVs  170   a - c  to dock to the mobile relay stations  160   a - c  in order to recharge and/or to drop off their products  190   a - c  for pick up by other UAVs  170   a - c.    
     The systems and methods described herein advantageously provide for semi-automated or fully automated operation of unmanned aerial vehicles to transport products to consumers along predetermined delivery routes while enabling the recharging of the UAVs to advantageously extend the delivery range capabilities of the UAVs. The mobile relay stations are positioned in optimal locations along the predetermined delivery route of a UAV such that the UAV does not need to deviate from its optimal delivery route in order to recharge, advantageously increasing the efficiency of movement of the UAVs along their delivery routes. In addition, since the mobile relay stations permit the UAVs to drop off their products at the mobile relay station while being docked and recharging for pick up by other UAVs, the products can be advantageously delivered to the consumers faster (i.e., the products continue moving toward their delivery destination via another UAV while their original UAV is recharging at a mobile relay station). 
     Those skilled in the art will recognize that a wide variety of other modifications, alterations, and combinations can also be made with respect to the above described embodiments without departing from the scope of the invention, and that such modifications, alterations, and combinations are to be viewed as being within the ambit of the inventive concept.