Patent Publication Number: US-2022227253-A1

Title: Methods for reconfigurable power exchange for multiple uav types

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation of U.S. patent application Ser. No. 15/943,581 filed Apr. 2, 2018, which is a divisional of U.S. patent application Ser. No. 15/285,820 filed Oct. 5, 2016 (now U.S. Pat. No. 9,969,285), which claims the benefit of priority to U.S. Prov. Apps. 62/237,245 filed Oct. 5, 2015, and 62/265,703 filed Dec. 10, 2015, each of which is incorporated herein by reference in its entirety. 
    
    
     BACKGROUND OF THE INVENTION 
     Unmanned Aerial Vehicles (UAVs) are increasingly being used for commercial applications. Examples include, but are not limited to, inspections of railway lines, inspection of electrical power lines, monitoring of quarry sites and construction sites. Larger than consumer UAVs, commercial UAVs are commonly powered by, but not limited to, batteries. Currently, the primary limitation of the range and capabilities for commercial UAVs is battery technology. With the latest breakthroughs and higher power densities, UAVs are capable of up to around 30 minutes of flight with a useable payload. Current UAVs require manual exchange of said power systems, requiring a man in the loop for every flight. While rendering the UAV effective for consumer use, battery technology and the automation of exchanging them is the key limiting factor to the commercial realization and wide-spread use of UAVs. 
     SUMMARY OF THE INVENTION 
     The Reconfigurable Power Station (RPS) for Multiple UAVs is designed to extend the range and capabilities of multiple, and possibly disparate, unmanned systems. In this embodiment we discuss in detail the RPS system when interfacing with UAVs. The RPS system will detect a signal from a UAV requiring a new Swap Cartridge (SC), and using identifiers, including vehicle type, vehicle SC, status of SC, and vehicle location, will make a determination for landing. As the vehicle closes to within a threshold distance of the RPS, which may include, but are not limited to 1 foot, 3 feet, 6, feet, 10 feet, 20 feet, etc. above the station, the UAV will be guided to the RPS utilizing sensors embedded into the Universal Integrated Swap system (UIS) onboard the vehicle and a series of visible or non-visible illuminators embedded into the landing zone deck to make final approach and land. Once landed, the RPS will deploy a landing gear retention system to mechanically and electrically connect to it. This is but one embodiment of the RPS as this problem is not limited to UAVs, but to many forms of unmanned systems, including, but not limited to, ground vehicles, underground vehicles, water surface vehicles, underwater vehicles, and space vehicles. 
     The RPS System is designed to house multiple power cartridges, in one or multiple modular power bays. These modular power bays are designed to be self-contained housing and replenishment units. Modular Power Bays (MPBs) are capable of housing multiple types and sizes of SCs, and may include, but not limited to, electric batteries, hydrogen fuel-cells, or fossil fuels. The data the RPS received prior to the UAV landing may enable the onboard processing system to make a determination and select the appropriate type and quantity of SCs. Utilizing a transfer system coupled with an elevator, SCs are transferred from the MPBs to the landing zone. An example embodiment of the described system is: The SC transfer mechanism moves to locate the UIS on the landed UAV. Once located, the swapping mechanism withdraws the depleted SC from the system and moves the SC to an available MPB, inserting it for replenishment. Following the transfer of the SC, the swapping mechanism moves to a bay with the appropriate replacement SC for the UAV, as directed by the onboard processing system, and retrieves a fully energized SC. From there it will be elevated to the landing zone via an elevator or other mechanical actuation system. Once the swapping mechanism locates the UIS, it inserts the energized SC into the Swap Cartridge Receptacle (SCR) onboard the UAV. With the SC swap complete and the swapping mechanism stored below the landing zone deck, the UAV departs the RPS and resumes its flight. 
     In one embodiment, a power station for unmanned aerial vehicles may generally comprise an enclosure defining a surface and an interior, and a landing zone positioned upon the surface and sized to receive one or more UAV types, wherein the landing zone has one or more markers or emitters configured to generate one or more composite images when a UAV is in proximity to the landing zone. 
     In another embodiment, the reconfigurable power station for unmanned aerial vehicles may generally comprise a housing defining a surface, a modular power bay positioned within the housing, the modular power bay defining one or more receiving bays for retaining a corresponding power cartridge, a landing zone positioned upon the surface and sized to receive one or more UAV types, wherein the landing zone has one or more markers or emitters configured to generate one or more composite images when a UAV is in proximity to the landing zone, and a central processor in communication with the one or more markers or emitters. 
     One method of swapping a power supply in an unmanned aerial vehicle may generally comprise emitting one or more composite images to a UAV via one or more markers or emitters when the UAV is in proximity to a landing zone located on a reconfigurable power station (RPS), determining an orientation of the UAV relative to the landing zone after the UAV has landed, removing a first swap cartridge from the UAV via a swapping mechanism within the RPS, and installing a second swap cartridge from the RPS and into the UAV. 
     In yet another embodiment, a UAV reconfigurable power station (RPS) may generally comprise a dynamic terminal landing system (DTL) configured to support autonomous landing of a UAVs on a landing zone, wherein the DTL comprises a UAV landing zone that is reconfigurable for multiple UAV types and sizes and is further configured to support landing, exchanging a swap cartridge, and take-off operations; a power source capable of powering a UAV flight system once on the landing zone; one or more modular power bays (MPBs) capable of housing multiple instances of a given universal swap cartridge (SC); a universal swap cartridge swapping mechanism configured for manipulating multiple SC types and sizes; a RPS central processor (CP) configured to support operations of the RPS; and a sensor positioned within the RPS. 
     Additionally, the RPS may further comprise a universal swap cartridge processor (USP) configured to interact with the RPS; one or more universal swap cartridge receptacles (SCRs) configured to mechanically and electrically connect a SC to a UAV; one or more SCs; and an external marker positioned on the SC that allows the RPS to determine a position of the SC after the UAV has landed to allow for swapping of a depleted SC. 
     In yet another embodiment, a UAV reconfigurable power station (RPS) may generally comprise a UAV landing zone that is reconfigurable for multiple UAV types and sizes and is further configured to support landing, exchanging a swap cartridge, and take-off operations; a dynamic terminal landing system (DTL) configured to support autonomous landing of UAVs on a landing zone; a power source capable of powering a UAV flight system once on the landing zone; one or more modular power bays (MPBs) capable of housing multiple instances of a given universal swap cartridge (SC); a universal swap cartridge swapping mechanism configured for manipulating multiple SC types and sizes; a RPS central processor (CP) configured to support operations of the RPS; and sensors positioned within the RPS. 
     Additionally, the RPS may further comprise a universal swap cartridge processor (USP) configured to interact with the RPS; one or more universal swap cartridge receptacles (SCRs) configured to mechanically and electrically connect a SC to a UAV; one or more SCs; and an external marker positioned on the SC that allows the RPS to determine a position of the SC after the UAV has landed to allow for swapping of a depleted SC. 
     Additionally, the RPS may also further comprise a landing zone having visible or non-visible markers to create a composite image to aid in the landing of the UAV; and a composite image utilizing visible or non-visible illuminators on or embedded in the landing zone which are configured to form scalable composite images in response to a UAV type and altitude above the RPS landing zone. 
     In yet another embodiment a Universal Swap Cartridge Processor (USP) may generally comprise a housing configured to be integrated into a UAV flight controller or airframe; a processor within the housing and configured to control an automated landing and launch of a UAV from an RPS; an external transmitter capable of wirelessly transmitting a power source health and identifying data of an SC to the RPS, other UAVs in proximity, or other ground stations; an external receiver capable of wirelessly receiving data from the RPS, other UAVs in proximity, or other ground stations, wherein the USP is configured to relay data to a UAV or UAV flight controller; and one or more cameras configured to capture visible and/or non-visible data from a landing zone located on an RPS. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The detailed description is described with reference to the accompanying figures. 
         FIG. 1 a    is a perspective view of one embodiment of the Reconfigurable Power Station (RPS) including an unmanned aerial vehicle (UAV) in use of the station. 
         FIG. 1 b    is a perspective view of another embodiment of the RPS. 
         FIGS. 2 a -2 b    are schematic illustrations of a block diagram of subsystems that constitute an example embodiment of a RPS. 
         FIGS. 3 a -3 b    are illustrations of an embodiment of a Universal Integrated Swap System (UIS) for an unmanned aerial vehicle embodiment. 
         FIGS. 4 a -4 b    are schematic illustrations of a block diagram of the methodology for a swap cartridge (SC) exchange on an embodiment of an RPS. 
         FIGS. 5 a -5 b    are perspective views of the dynamic terminal landing system in accordance with embodiments. 
         FIGS. 5 c -5 e    are perspective views of another variation of the dynamic terminal landing system (DTL). 
         FIG. 6  is a side view of a shore power system supplying power to a landed UAV in accordance with embodiments. 
         FIGS. 7 a -7 b    are perspective views of example embodiments of a modular power bay and associated SCs. 
         FIGS. 8 a -8 b    are perspective views of example embodiments of an assembled SC. 
         FIGS. 9 a -9 b    are rear views of example embodiments of an external marker fixed to the surface of an SC. 
         FIGS. 10 a -10 b    are exploded views of example embodiments of an SC. 
         FIG. 11  is a perspective view of a Universal Integrated Swap system (UIS) and associated features in accordance with embodiments. 
     
    
    
     DETAILED DESCRIPTION OF THE INVENTION 
     The following is a detailed description of an embodiment of the invention, as well as the systems and methods utilized in order to provide extended capabilities to UAVs. It is understood that the various embodiments of said invention are considerate of the functional capabilities of various UAV scales and frames. An example would include proportionally smaller aerial vehicles that have varied acceptable flight conditions for safe operation. In consideration of the device having universal applications, the parts and complexity of the associated system may vary depending upon the applied platform. Other embodiments of the RPS  100  system may be able to fulfill a similar role to the embodiment described here with respect to other unmanned systems, including but not limited to, surface vehicles, underground vehicles, water surface vehicles, underwater vehicles, and space vehicles. 
     The utilization of a reconfigurable power system in this embodiment, as shown in the perspective view of  FIG. 1 a   , is intended to extend effective flight range and flight time of a desired UAV  108  by offering a universal system in which UAVs  108  are capable of exchanging depleted universal Swap Cartridges (SCs)  110  for energized cartridges. One variation of a SC  110  may comprise a power supply or power cartridge in which a depleted power cartridge may be exchanged for an energized power cartridge. The various embodiments of SC  110  are not intended to be limiting as various other types of payloads may be utilized as swappable cartridges. The Reconfigurable Power System (RPS)  100  is intended to be a fully autonomous solution for SC  110  exchange. The RPS, which is capable of communications with the UAV  108  via the Universal Integrated Swappable system (UIS)  300  installed aboard the UAV  108 , may be contained within a housing or an environment enclosure  104  and will detect whether the user or mission control of said UAV  108  determines the desire for exchange of a SC  110  and will engage the UAV  108  into the SC  110  exchange protocol. 
     In the considered embodiment of the RPS  100 , one can be comprised of, but not limited to, a UAV landing zone  102  configurable for a multitude of UAV types and sizes, a dynamic terminal landing system (DTL) for autonomous UAV landing, a power source capable of powering the UAV flight control system when landed  600  (as described in further detail in  FIG. 6  herein), a modular power bay (MPB)  700  which may house multiple SCs  110 , a universal SC swapping mechanism  112  to advance the exchange of multiple SCs  110 , a central processor  218 , and associated sensors  222  allowing appropriate tracking/detecting of the UIS  300  aboard the UAV  108 , as described in further detail below. The swapping mechanism  112  may be contained within the environment enclosure  104  when not in use but may be deployed through an opening door or mechanism and automatically positioned into proximity to the UAV  108  when swapping the SC  110 . An RPS  100  may be deployed in any number of environments  200  of which include, but are not limited to, farms, fields, deserts, industrial plants, water banks, and urban zones. The RPS  100  may be controlled directly in close physical proximity or remotely. A transmitter and receiver  106  may be integrated with the RPS  100  to facilitate wireless communications, e.g., with the UAV  108  or with a remotely located controller or interface. An internal power source  206  allows for operations without an external power source  202  for a set period of time. RPS  100  may have provisions for various types of external power  202  including, but not limited to: electrical grid, hydrocarbon generator, or solar power. 
       FIG. 1 b    illustrates a perspective view of another embodiment of an RPS  100 ′ which may also incorporate the housing or environment enclosure  104 ′. The UAV landing zone  102 ′ may be positioned atop the enclosure  104 ′, as above, and the enclosure  104 ′ may also incorporate a transmitter and receiver  106  to facilitate wireless communications. While the RPS  100  described above incorporates a landing zone  102  and a swapping mechanism  112  deployable from within the enclosure  104 , the RPS  100 ′ embodiment may incorporate the swapping mechanism in a housing which is positioned or positionable adjacent to the UAV landing zone  102 ′. 
     The aforementioned UIS  300 , which is illustrated as an assembly in  FIG. 11 , is adaptable or otherwise securable to the independent frame of the UAV  108  utilizing the capabilities of the RPS  100 . The assembly of the UIS  300 , in one embodiment, may be implemented as illustrated in the perspective views of  FIGS. 3 a  and 3 b   . As shown in  FIG. 3 a   , the UIS  300  is illustrated in an assembly view relative to the UAV  108  and multiple SCs  110  are also shown as being insertable or attachable within the UIS  300 . As illustrated in the assembly view of  FIG. 3 b   , the UIS  300  (shown detached from the UAV  108  for illustrative purposes), generally forms a receiving structure having a universal Swap Cartridge Receptacle (SCR)  1104  which may have one or more receiving guides defined. A SC swapping adapter  302  (and described in further detail below) may be deployed from the RPS  100  while carrying a SC  110 . When the UAV  108  has landed upon the platform  102  and is ready to receive a SC  110 , the SC swapping adapter  302  and SC  110  may be aligned with the receiving channel of the UIS  300  which may then receive the SC  110  for electrical coupling. 
     Included as part of the UIS  300  assembly may be a Universal Swap Processor (USP)  1102 , one or more SCRs  1104 , one or more SCs  110 , and an external marker  1114  for identification and tracking of the UIS  300 , as further shown in  FIG. 11 . A UIS  300  may be directly integrated into a given UAV  108  structure by an Original Engineering Manufacturer (OEM) or adapted to an existing UAV  108  structure. An example embodiment of a directly integrated UIS  300  may have the SCR  1104  merged with the primary structure, the UPP  1102  part of the flight controller board, and the optical sensor  1108  integrated directly into the exterior of the vehicle. A UIS  300  is utilized by the UAV  108  for interaction and SC  110  swapping with an RPS  100 . Furthermore, the USP  1102  may comprise one or more cameras which are configured to capture the visible and/or non-visible data (e.g., one or more composite images which are scalable) transmitted from the landing zone  102 . Within a UIS  300 , SCR(s)  1104  may be electrically connected to the USP  1102  to provide SC data including, but not limited to, SC health, SC power status, SC payload status, and SC type. The previous embodiment is capable of being powered by the embedded battery that is a part of the USP  1102  while SC(s)  110  are not installed in the system. 
     The aforementioned universal Swap Cartridge (SC)  110 , which is illustrated in the variations of  FIGS. 8 a  and 8 b   , is compatible with the associated UIS  300  and provides power or payload to the equipped UAV  108 . The variation shown in  FIG. 8 a    may incorporate a housing or external sleeve  1010  having a tapered portion while the variation shown in  FIG. 8 b    may have a housing or external sleeve  1010 ′ which is non-tapered. The SC  110  is designed, but is not limited, to provide power to the equipped UAV  108  propulsion system. An embodiment as shown in  FIGS. 8 a  and 8 b    could include one or more power and/or signal connectors  1000 , programmable storage and data mediums  1002 , desired power storage medium, desired payload, paired tracks  1008  for mating with and removal from the UIS  300 , unique identifiable marker  900 , and mechanical locking mechanism  1006 . The end views of  FIGS. 9 a  and 9 b    illustrate the unique identifiable markers  900 ,  900 ′ (e.g., 2-dimensional or 3-dimensional barcodes, etc.) positionable upon the external housing for optical reading and recognition. The paired tracks  1008  which are positioned along the sides of the housing or sleeve  1010  and extend longitudinally may be comprised of one or more projections (such as a rack gear) for providing traction when received by the SCR(s)  1104  of the UIS  300 . 
     Primary construction of a SC  110  is defined as a housing or an external sleeve  1010  that houses the desired medium  1004 , which includes but is not limited to, battery, fossil fuel, fuel cell, or payload, as shown in the exploded assembly view of  FIG. 10 a    and  10   b . Additionally, SCs  110  may contain more than one power medium  1004  within the case to be able to facilitate more alternative systems, including but not limited to, hybrid propulsion systems. The connectors  1000  integrated into the SC  110  is electrically connectable to the electrical connectors  1106  positioned within the UIS  300  (as shown in  FIG. 11 ) and when connected will be able to transfer power or applicable data that is unique to the individual SC  110 . This information may include: power source data, power sources specification, power sources health data, payload status, payload data, UAV type, compatibility type, serial numbers, product numbers, and/or owner. The SC  110  may contain a unique marker  900  which stores pre-programmed information. This pre-programmed information may assist identifying the type and compatibility of the observed SC  110 . Furthermore, the marker  900  may assist in the location of one or more SCs  110  and removal of said SCs  110  from the landed UAV  108 . The SC  110  may alternatively house internal markers, such as RFID tags, acting similarly to the aforementioned unique external marker  900 . Data pulled from the SC  110  may be stored locally at the RPS  100  and may be used internally by the RPS  100  system in operation and/or accessed remotely by an operator or external system. 
     Unique external features, such as smooth rails or racks  1008 , are implemented to allow facilitation of installation, storage, and removal of said SCs  110 . In order to ensure proper containment, provisions, such as, but not limited to, a physical interface may be implemented for mechanical locking of individual SCs  110  within the UIS  300  during flight of a UAV  108 , landing of a UAV  108 , UAV  108  resting on stationary or mobile platform, or storage within a modular power bay. A SC  110  may be a variety of sizes to accommodate the variety of UAV designs and types. Upon an external power source supplied to a RPS  100 , a SC  110  housed in a MPB  700  will be energized to nominal conditions. Said energized SC  110  may remain physically constrained and may be stored in nominal conditions. The embodiment in  FIG. 10 b    shows components which are numbered similarly with corresponding components as shown in  FIG. 10   a.    
     The aforementioned universal Swap Cartridge Receptacle (SCR)  1104 , which is illustrated in  FIG. 11 , is compatible with all proposed SC  110 , MPB  700 , and UIS  300  components. The SCR  1104  may be comprised of, but is not limited to, a positive mechanical solution for mechanical containment of SCs  1112 , electrical connectors  1106  for transmission of power and/or signal transmissions of associated SCs  110 , and physical features to accommodate various UAV styles and sizes. A SCR  1104  may be responsible for supplying power from a connected SC  110  to a UAV  108 . A SCR  1104  is responsible for mechanically retaining a SC  110  during all modes of flight. A single or multiple instances of a SCR  1104  may be used on a single UAV  108 . 
     The aforementioned USP  1102 , which is illustrated in  FIG. 11 , is compatible with associated UISs  300  and SCs  110 . A USP  1102  may be composed of, but is not limited to, a processor to facilitate communication between RPS  100  and UAV  108 , an external electromagnetic transmitter  1110  capable of system and SC data transfer, an external receiver  1110  capable of communication with one or more RPSs  100 , UAVs  108   s  in proximity, and/or other stations, a relay for commands from pilot to flight controls and vice versa, one or multiple sensors for visible and/or non-visible data from RPS  100  or environment, and an embedded battery to facilitate system functions independent of the SC  110 . A USP  1102  utilizes a wireless protocol to communicate with an RPS  100 , and is designed to transmit data, which may include SC health data, SC type, and payload data. The USP  1102  may act as a pass-through for flight input data between external sources and the flight controller on a UAV  108 . A UPP  1102  system may be designed to be installed on multiple UAV  108  types and multiple UAV  108  sizes. These installations may be directly integrated into the UAV  108  frames. 
     The aforementioned Landing Zone  102 , which is illustrated in the side view of  FIG. 6 , is designed for the purpose of physically supporting and restraining a UAV  108  while landed at an RPS  100  during a SC  110  exchange. It may be designed to secure a UAV  108  for a period of time via one or more mechanical retaining mechanisms which may temporarily attach or otherwise secure the UAV  108  during swapping of the SC  110 , e.g., via securement with the landing gear of the UAV  108 . The landing zone  102  is designed to supply power to the UAV  108  during the SC  110  exchange, including but not limited to, powering flight control systems and payloads via the UIS  300  which may be done through an electrical and/or mechanical engagement mechanism  600 . The landing zone  102  may accommodate one or more UAVs  108   s  simultaneously. The RPS  100  may have one or more landing zones  102 . 
     The aforementioned Dynamic Terminal Landing system (DTL), which is illustrated in  FIGS. 5 a  to 5 e   , may be comprised of, but not limited to, landing deck(s)  102  and one or more visible or non-visible markers/emitters  500 ,  502 ,  504  capable of generating composite images. This system of markers may be arranged in patterns or arrays that allow the system to create identifiable imagery. The composite imagery can be superficial or embedded into the landing deck  102 , of which may or may not be a smooth or textured surface to aide in landing. The composite imagery size are scalable and may vary from, e.g., 1 inch by 1 inch and be as large as 26 inches by 26 inches, or larger. For example, a composite image may be a QR barcode or AprilTag. Depending upon a UAV&#39;s  108  location above a RPS  100 , the composite image may change its size (e.g., in real-time) to aide in the landing of the UAV  108  depending on the distance to the UAV  108 , as shown in the perspective view of  FIGS. 5 a  and 5 b   , which shows a predetermined pattern upon the landing zone  102  which may be reduced in size in a corresponding manner as the UAV  108  approaches the landing zone  102 . These distances may include, but are not limited to, e.g., 1 foot, 3 feet, 6, feet, 10 feet, 20 feet, etc. above the station. Dependent upon the drone type and size, the image displayed for landing may change to optimize the landing of said vehicle. Dependent upon the height of the system, the composite images may move in addition to vary in size in aiding in the landing of the UAV  108 . The DTL is capable of operating on the internal power of the RPS  100 . Similarly,  FIGS. 5 c  to 5 e    illustrate how the visible or non-visible markers/emitters  500 ,  502 ,  504  may change its pattern and/or change in size as the UAV  108  approaches the landing zone  102 . 
     The aforementioned Modular Power Bay (MPB)  700 , which is illustrated in  FIGS. 7 a  and 7 b   , is capable of housing multiple instances of SCs  110  within itself for storage or replenishment and is stored within the RPS  100 . Universal Swap Cartridge Receptacle (SCR)  1104  installations within the MPB  700  allow for SCs  110  to be utilized similarly as the UIS  300 . A MPB  700  may contain a homogenous or heterogeneous mixture of SC types and may contain one or more SCs  110  at any point in time. MPBs  700  are defined as line replaceable units (LRUs), which allow for one or more MPBs  700  to be transported, installed, or utilized within one or more RPS  100   s . With the MPB  700  being an LRU, it allows for variable SC  110  storage within a RPS  100 , thus providing the possibility of servicing a multitude of UAV  108  types and sizes from the same or joined network of RPS  100   s . Utilization of a MPB  700  separate from the box can allow for standalone transportation and servicing of SCs  110  or MPBs  700 . Furthermore, the MPB  700  may be configured to store the one or more SCs  110  in various configurations. For instance,  FIG. 7 a    shows one variation where the MPB  700  may be configured to store the SCs  110  in a stacked manner where the individual receiving bays  703  may be positioned atop one another.  FIG. 7 b    shows a perspective view of another arrangement where the receiving bays  703  of the MPB  700  may be aligned in a symmetric arrangement, for example, in a two-by-two arrangement as shown. Depending on the positioning of the receiving bays  703 , the SC swapping adapter  302  may be positioned in proximity to the appropriate bay  703  for storage or retrieval of an SC  110 . 
     The aforementioned SC Swapping Mechanism  112 , which is illustrated in  FIG. 1 , may be adjustable to receive a multitude of SCs  110 , which may be used with a multitude of UAV  108  sizes and types. The swapping mechanism  112  may be implemented with an array of sensors or detectors to allow for the determination of the UIS  300  location. The capabilities of said mechanism  112  permit the exchange of one or more SCs  110 . The exchange of SCs  110 , via the swapping mechanism  112 , is facilitated between one or more depleted SCs  110  of a UAV  108 . Said depleted SCs  110  may be exchanged with one or more of any desired replacement SCs  110 , of which are stored within the MPBs  700  of the RPS  100 . The swapping mechanism  112  may facilitate motion for transfer with inertia of a depleted SC  110 . The swapping mechanism  112  is also capable of facilitating SC swap via an elevating system or another mechanical solution. The swapping mechanism  112  may facilitate advancement of a SC  110  with the motion of a rotary system. This system allows for the removal and loading of a SC  110  into a UIS  300  and a MPB  700 . The RPS  100  that the swapping mechanism  112  is housed within is capable of facilitating SC exchange of the UAV  108  while it is positioned and at rest on an associated DTL. 
     The aforementioned Reconfigurable Power System Central Processor (RPS-CP)  218  is utilized within the RPS  100  to facilitate the system functions of the RPS  100 , as shown in the schematic diagram of  FIG. 2 a   . These functions may include, but are not limited to, external/internal environmental monitoring  224 , environmental control system (ECS) control  232 , UIS data transfer, RPS data storage  230 , safety systems control, and MPB and SC state monitoring  226 . RPS-CP primary function is to coordinate and execute the swapping of SCs  110  for a UAV  108  as described in  FIG. 4 . 
     During normal operations of an RPS  100 , the RPS-CP may be observing environmental conditions. These conditions include both conditions within/on the RPS  100  and conditions about/around the RPS  100 . The conditions around the deployed RPS  100  that may be monitored could include, but are not limited to, ambient temperature, ambient pressure, ambient wind speed, ambient wind direction, ambient humidity, and visibility. These conditions, in accordance with predetermined limitations for the UAV  108 , may determine the flight readiness of the UAV  108  for a mission at any given time. The conditions detected by the RPS  100  and the vehicle of which is to be deployed or stationed may be communicated via the RPS-CP to the UAV  108 , the RPS  100 , and/or a command center determined preferred by the user. The flightworthiness determination of any specific UAV  108  or its mission may be communicated via the RPS-CP to a mission planner or a central command center. Within the RPS  100 , the RPS-CP will be observing various environmental conditions in order to provide ideal operating and storage conditions of all the functioning systems that may be enclosed within an RPS  100 . 
     In accordance with all aforementioned, and any more appropriate installed systems, the system observed data monitored by the RPS-SC may be retained in an internal storage medium  230 . This data storage medium may be located within the RPS  100  or in communication of the RPS  100 . Communications with the RPS  100 , with any form of desired data network or any connected device, wired or wireless, may be conducted via a transmitter and receiver  106  on board the RPS  100 . This transmitter and receiver  106  may be controlled via the RPS-CP to access desired information from the RPS  100  and all its associated systems. 
     Generally, the RPS  100  can be seen in the schematic illustration of  FIG. 2 a    showing an example of the RPS  100  within a deployed environment  200 . The RPS  100  may be in electrical communication with an external energy source  202  which may charge or power an internally contained energy storage system  206  which is contained within the power system  204 . The energy storage system  206  may distribute power via a power distribution system  208  to the various components within the RPS  100  such as the dynamic terminal landing platform  210  as well as the mechanical elevation solution  112 . The dynamic terminal landing platform  210  may include a mechanical and/or electrical connection  212  which may temporarily couple to the UAV  108  after landing on the UAV landing zone  102  in reference to the electrical and/or mechanical link  600  shown in  FIG. 6 . 
     The mechanical elevation solution  112  may facilitate the transport of the SC  110  from one of the preselected modular power bay  700  (e.g., N modular power bays) which may also be in communication with an energy replenishment system  214  which may charge the one or more SC  110  contained within the modular power bay  700 . The MPB status monitor  216  may also be incorporated within the modular power bay  700  for obtaining a status of each of the SC  100 . 
     As described above, the RPS central processor  218  may incorporate a RPS data storage  230  module and one or more sensor systems  220  which monitor the status of the various components within the RPS  100 . For instance, aside from the external environment sensors  224 , a UIS location sensor  222  may be in communication with the mechanical elevation solution  112  to monitor and/or control a positioning of the solution  112  relative to the UIS  300  of a landed UAV  108 . Also, a MPB state monitor system  226  may be in communication with the MPB status monitor  216  so as to monitor a status of the modular power bay  700 . The RPS system state sensors  228  within the sensor systems  220  may be in communication with the RPS environment control system  232 . 
     While the RPS  100  may be self-contained, the RPS system may be in wired or wireless communication through the transmitter and receiver  106  within the RPS central processor  218  with a remotely located system through a communication network  234  for transmitting and/or receiving data as well as instructions. 
     Within the RPS  100  system, schematic diagrams of some of the sub-systems are shown in  FIG. 2 b   . With reference to the UIS  246  which is secured to the UAV, retains the SC  110 , and interacts with the RPS  100 , the UIS  246  may generally include an SC detainment tool  248  for retaining or securing the SC  110  during flight. A mission data storage medium  250 , PC adaptor tools  252 , RPS communication system  254 , as well as flight sensors  256  may also be incorporated. 
     The dynamic terminal landing platform  212  may include a platform mobility system  258  which controls and monitors the retrieval of the SC  110 . As part of the platform mobility system  258 , a UAV retaining features  260  may be incorporated, as described herein, as well as location sensors  262  for locating the position and orientation of the UAV. This may include a physical platform tag  264  as well as electro-optical arrangement  266  for determining the position and orientation. 
     The power system  274  may include the power distribution  278  which in turn includes the external power distributor  276  and internal power storage solution  280  for controlling and/or monitoring the power when receiving from or delivering to an external source and/or when charging or powering the internal systems. The external power distributor  276 , for instance, may be in communication with the dynamic terminal landing platform  212  for controlling and/or monitoring the charging of the UAV systems when landed. The power distribution  278  may also power the various mechanical system controllers  284 , RPS system controllers  286 , as well as the MPB replenishment systems  282 . 
     The mechanical elevation solution  112  may also include a vertical elevator system  268  for lifting and/or lowering the SC  110  from or to the modular power bay  700 . This may include a swap cartridge transport solution  270  as well as the UIS location system  272  for also locating the position and orientation of the UIS upon the UAV. 
     The MPB support structure  238  may include the modular power bays  700  which includes the swap cartridge connections  240  and environmental control system  244 . The swap cartridge connections may include the one or more SC  110  as well as the SC status tool  242 . 
     Additionally, the RPS system door  288  may also be seen which includes a door actuation system  290 . The RPS system door  288  may be opened when swapping out the SC  110  from a landed UAV or closed when not in use or after a UAV has departed the RPS. 
     The schematic diagram of  FIG. 4 a   , in accordance with some or all aforementioned components, illustrates one example of a method of SC  110  exchange for with an embodiment of an RPS  100 . A UAV  108  may utilize an RPS  100  for the purposes of, but not limited to, SC replenishment, safe stowing, and/or data transmission, etc. A UAV  108 , via some predetermined (external to the RPS  100  system) conditions, the UAV  108  may request for permission  400  to land onto an RPS  100 , where the request is transmitted via the USP  1102 . When approved by the RPS-CP in the RPS  100 , the active UAV  108  is assigned a position in the landing queue  402 . When an RPS  100  is available, said RPS  100  provides permission  404  to land to the appropriate UAV USP  1102 . The USP  1102  then guides the landing UAV  108  onto an RPS  100  utilizing the DTL system  410 . 
     After the successful landing of a UAV  108  onto the RPS  100 , the RPS  100  may begin to access and download  408  mission and/or payload data from the landed UAV  108  via the USP  1102 . The data may be stored within the RPS data storage or transmitted to a separate location via a wired or wireless transmission  406 . 
     The landed UAV  108  may also establish  412  an electrical and/or mechanical link  600  with the RPS  100 . The RPS  100  may now begin a search  414  for the UIS  300  which may be adapted to the landed UAV  108 . Upon location of the UIS  300  of the landed UAV  108 , the RPS  100  may position the UIS  300  into a nominal position  424  for removal of one or more SCs  110  from the stationary UAV  108  via the SC swapping adapter  302 . After removal  422  of desired SC or SCs  110 , the depleted SC or SCs  110 , may be allocated  420  to an available MPB SCR  702  for replenishment or storage. The RPS  100  may return  418  an energized SC, or SCs  110 , compatible to the UIS  300  of the stationary UAV  108  and then install the “fully energerized” PC into the UAV  416 . Dependent on an external power source  428  supplied to a RPS  100 , said depleted SC  110  is capable of being energized  430 . 
     Once the RPS  100  has replenished the UIS  300  of the stationary UAV  108 , said UAV  108  may be cleared  426  to leave the RPS  100 . In consideration, before a UAV  108  is cleared to launch from an RPS  100 , environmental conditions  236  may be assessed to confirm safe flight possible for the UAV  108  based on inherent flight capabilities and may involve a primary systems check and preflight check of the UAV  108 . 
       FIG. 4 b    illustrates another variation for a method of SC  110  exchange with an embodiment of an RPS  100 . When the UAV  108  is in use, it may transmit telemetry to an RPS  100  system  432  and the RPS  100  may receive the telemetry and requested action by the UAV  434 . This action may occur multiple times in any given time period during UAV flight and may also be repeated for multiple UAVs which may be in use simultaneously. 
     In the event that the UAV  108  wants to download sensor or telemetry data only, the UAV  108  may begin downloading the data via wireless transmission  436 , as previously described, and the RPS  100  may store the data for retrieval at a later time or it may upload the data  438  to a communications network  234 , as previously described. 
     In the event that the SC  110  needs to be replaced, the RPS  100  may determine which replacement SC from the MPB  700  is to be queued and the UAV  108  is then placed in a landing queue  440  (depending on whether other UAVs are queued for landing). Once the UAV  108  has landed  442  on the landing zone  102  of the RPS  100 , the mechanical and/or electrical link may be established  444  with the UAV  108 , as previously described. The SC  110  may be removed  446  from the UAV  108  and a new SC may be loaded  448  into the UAV  108 . The UAV  108  may then be cleared for take-off  450  from the landing zone  102 . 
     The RPS  100  may make a determination as to whether the RPS  100  is connected to an external power source  454  in which case the depleted SC  110  may be charged  452  accordingly. Otherwise, if the RPS  100  is not connected to an external power source, the depleted SC  110  may be stored in a queue  456  within the MPB  700  or it may be charged by an internal power source. 
     The applications of the disclosed invention discussed above are not limited to the embodiments described, but may include any number of other non-flight applications and uses. Modification of the above-described methods and devices for carrying out the invention, and variations of aspects of the invention that are obvious to those of skill in the arts are intended to be within the scope of this disclosure. Moreover, various combinations of aspects between examples are also contemplated and are considered to be within the scope of this disclosure as well.