Patent Description:
The invention pertains to the field of unmanned air vehicles, also known as drones. More particularly, the invention pertains to a system to launch, retrieve, store and communicate information with unmanned air vehicles.

Small unmanned air vehicles (UAVs), also known as unmanned aerial systems (UASs) or drones, have been used in photography, surveillance, sensing and mapping applications, payload delivery, and many other uses. The use of small UAVs provides capabilities for tasks that require cameras or payloads to be present in all types of locations, including those that are dangerous or difficult to access.

Small UAVs are often electric vehicles with flight time that is limited by battery capacity. When a UAV's battery is near being depleted, the operator or mission control software must end the task, fly the vehicle to a service location, land, swap or recharge the battery, fly the vehicle back to the location, and then resume the task. This operational cycle is tedious and time-consuming for a human to be involved.

Moreover, small UAVs, whether fully autonomous or piloted remotely with a human or computer operator, are deployed by the human operator and managed by human operators while not in use. This requirement of human deployment and management is cumbersome, inefficient and time consuming, especially when dealing with multiple vehicles simultaneously, and may be prohibitive when dealing with a large number of vehicles. In addition, the deployment and retrieval of small UAVs, including startup placement, battery and fuel management, and mission initiation requires an informed operator to be present. Accordingly, a fully automated system of deploying, landing/retrieving and recharging UAVs is needed.

Existing methods for automated retrieval of UAVs exist with various disadvantages. Certain retrieval methods known in the art, such as net-type or vertical wire systems, require a human to disengage the UAV from the retrieval system, require a separate launching mechanism, and have a high probability of damage. In the case of a passive retrieval system (e.g., a landing pad), existing autonomous UAV retrieval requires intelligence to be present on the UAV itself to align with a landing pad and attempt to maintain alignment throughout the retrieval process. However, due to their relatively small size, UAVs have limited processing power and intelligence sensing capability to be present onboard, making such a retrieval procedure difficult for a UAV to manage on its own. In addition, conditions such as high or turbulent winds, a dynamic moving platform (e.g., a retrieval system supported on a moving vehicle), and the like, may cause a failure to maintain alignment and failure to land precisely. In the case of a retrieval system supported on a moving vehicle, failure to land successfully on the retrieval system (e.g., missing the landing pad) may cause the UAV to crash, thus damaging or destroying it. Still further, even after successfully landing on such a retrieval system, a UAV may be thrown off the system by motion of the vehicle carrying the system, thereby damaging the UAV or losing it entirely. For example, if the UAV is attempted to be retrieved by way of a boat, the UAV has a high chance of falling overboard, thus losing or destroying the UAV. Similar results can occur if attempting to retrieve a UAV on a high speed moving vehicle.

Currently, limited sensing capabilities on small UAVs requires operators to manually land and deploy small UAVs, because of uncertainty of an autonomous vehicle (such as a UAV) about retrieval conditions. Ground slope, tall grass, water, windy conditions, and motion of the retrieval system create hazards and uncertainty that could cause UAV damage. Software algorithms exist to land UAVs automatically by slowly reducing altitude in small increments until a hard stop is detected, if the operator selects a suitable landing zone beforehand. This is not ideal because flight time is limited, and therefore the operator must think about and select a landing location beforehand, and the UAV still has to be handled by an operator after it has landed. If the operator wants to hold a position or fly an autonomous mission, the UAV is typically manually deployed and then switched into the computer-controlled mode.

The relatively short operational range of small UAVs means that a UAV must be deployed in approximately the same area it is to be operated and cannot fly in from a more remote location. Accordingly, conventional UAVs require a human operator to be present in the same area the UAVs are operated in, so that the operator may deploy and retrieve the UAVs. This presents its own difficulties, since UAVs are often operated in hostile conditions, for example in extreme climates or combat zones, where it is dangerous for a human operator to be present. Also, UAVs are sometimes required to be operated in humanly difficult or impossible terrain, where such terrain is desired to be explored.

As for relevant prior art, <CIT> "Unmanned aerial vehicle base station system and method" in the name of SZ DJI TECHNOLOGY CO. , for example, describes a UAV base station for automated battery pack exchange and methods for manufacturing and using the same. The UAV base station includes a battery-exchange system disposed within a housing having a top-plate. The housing contains a battery array having a plurality of UAV battery packs and a mechanical mechanism for automatically removing an expended battery pack from a UAV that lands on the top -plate and replacing the expended battery pack with a charged battery pack. Thereby, the UAV base station system advantageously enables extended and autonomous operation of the UAV without the need for user intervention for exchanging UAV battery packs.

Also, Chinese Patent application <CIT> "Mobile logistics integrated processing system and logistics processing method" in the name of SF TECH CO LTD. , discloses a mobile logistics integrated processing system and a logistics processing method. The system comprises a logistics vehicle and an integrated processing platform arranged on the logistics vehicle. The integrated processing platform comprises a main frame. The main frame is provided with an unmanned aerial vehicle storage platform capable of going up and down along the vertical direction. A plurality of circulating and reciprocating type elevating mechanisms are arranged below the unmanned aerial vehicle storage platform. A lifting mechanism is arranged on one side of the circulating and reciprocating type lifting mechanisms. The lifting mechanism is provided with a platform. The lifting mechanism is located directly below a loading and unloading port. The integrated processing platform further comprises a sorting vehicle integration module and a carrying vehicle integration module. According to the embodiment of the technical solution of the invention, the above modules are integrated onto the logistics vehicle, so that the whole-process unmanned logistics of the goods sorting and transporting process is realized. Meanwhile, all modules integrated onto the logistics vehicle can be moved, deformed, and expanded, and are highly integrated. Therefore, the space utilization rate is high. Moreover, the system realizes the centralized storage and treatment of delivery goods for unmanned vehicles and unmanned planes and enables the parallel operations of various processing modes.

Finally, <CIT> "Systems and methods for deployment and operation of vertical take-off and landing (VTOL) unmanned aerial vehicles" in the name of SYSTEMS ENGINEERING ASSOCIATES CORP, describes an unmanned aerial vehicle (UAV) system provides for UAV deployment and remote, unattended operation with reduced logistics requirements. The system includes a launcher that can include one or more containers, or hangars, configured to house vertical take-off and landing (VTOL) UAVs. The system can further include a VTOL UAV orientation and charging module configured to mechanically position a UAV within a container and facilitate electrical mating and charging of a battery in the UAV. These operations, and others, can be performed by remote command that can initiate a series of preprogrammed steps. The UAV system can further include a power generation and storage subsystem, a security subsystem, a command-and-control subsystem and a communications subsystem. Command, control and communications can be provided between a remote station and the UAV.

Accordingly, a system to automate the retrieval and deployment of UAVs is needed. Further needed is a system to automate the retrieval and deployment of UAVs which can account for dynamic motion of the platform, and furthermore can store UAVs and hold them in place in between retrieval and deployment, as well as re-charging them during storage.

The forgoing and or other features and utilities of the present inventive concept can be achieved by providing a system to manage unmanned air vehicles (UAVs) according to claim <NUM>. The system includes: an enclosed storage area including at least one cell formed therein to receive and store at least one UAV; a platform to receive a UAV from a flight and to support a UAV for launching, the platform including an electronic sliding door to act as a part of the platform, the sliding door being configured to drop down by a predetermined amount with respect to the platform and slide thereunder along a pair of tracks to create an opening in the platform to allow UAVs to enter and exit the storage area; and a pair of gantry arms movable to pickup and position a UAV anyplace along the platform.

In accordance with an exemplary embodiment, the system can further include a first pair of guide rails to guide movement of the pair of gantry arms across the platform; and a second pair of guide rails disposed at opposite ends of the platform to guide movement of the pair of gantry arms across the platform in a direction perpendicular to the direction in which the first pair of guide rails guide movement of the gantry arm.

In accordance with another exemplary embodiment, the gantry arms can include a pair of notches with a point therebetween at each end thereof to capture feet of a UAV disposed on the platform; an alignment pin adjacent one pair of notches and the point to capture a foot of the UAV therein; and a blade disposed adjacent to the other pair or notches and the point to engage with slots in the feet of a UAV, the blade being angled to lift the feet by a predetermined amount.

In accordance with another exemplary embodiment, the gantry arms can include a pair of notches with a point therebetween at each end thereof to capture feet of a UAV on the platform; a wedge adjacent one pair of notches and the point to capture a foot of the UAV therein; and a blade disposed adjacent to the other pair or notches and the point to engage with slots in the feet of a UAV, the blade being angled to lift the feet by a predetermined amount.

In accordance with still another exemplary embodiment, the sliding door can drop down by a predetermined amount with respect to the platform and then can slide thereunder along tracks.

In accordance with still another exemplary embodiment, the first pair of guide rails can glide along a length of the second pair of guide rails to move the corresponding arms along the second pair of guide rails.

In accordance with yet another exemplary embodiment, a chute can be disposed at one side of the system to capture an object that is removed from the platform by the gantry arms.

In accordance with yet another exemplary embodiment, the storage area comprises a plurality of cells vertically aligned, each cell to receive and store a UAV therein.

In accordance with still another exemplary embodiment, each cell can include a pair of rails disposed at opposite sides thereof, each rail including a slot therein and a tray to securely connect a UAV thereon, the tray being configured to slide along the slot in the pair of rails to place the UAV with the cell and withdraw the UAV from the cell.

In accordance with yet another exemplary embodiment, one of each pair of rails includes a locking mechanism within the slot, the locking mechanism including a cam to rotate to an open position to allow the tray to slide past the locking mechanism and into the cell and to rotate to a lock position where a contact area thereof extends out of the slot to contact and lock the tray from sliding out of the cell.

In accordance with yet another exemplary embodiment, the locking mechanism can further include a lever disposed at one end of the rail where the tray enters the cell, the lever being configured to prevent the cam from rotating to the open position; and an unlocking linkage disposed at the one end of the rail and adjacent the lever, the unlocking linkage including a spring to bias the unlocking linkage away from the lever, the unlocking linkage being configured such that when a force greater than a force of the spring is applied thereto, the unlocking linkage forces the lever to move to a position to release the cam such that the cam rotates to the open position such that the tray can be withdrawn from the cell.

In accordance with yet another exemplary embodiment, the storage area can further include a manipulator to manipulate a tray between any of the cells and the opening in the platform, the manipulator being configured to move a tray to a position within the opening such that the gantry arms can engage with the feet of a UAV disposed on the tray.

In accordance with yet another exemplary embodiment, the manipulator can further include a transport plate to receive the tray; an elevator to raise and lower the transport plate between the opening in the platform and a position adjacent to each of the cells vertically aligned; and a pair of rails that move with the elevator, the rails being configured such that the transport plate can slide along the rails horizontally between a position directly under the opening to a position between the pairs of rails within each of the cells. In accordance with yet another exemplary embodiment, the system can further include an electronic controller to control the moves of the first and second pair of guide rails, the door and the manipulator.

In accordance with yet another exemplary embodiment, the electronic controller can be connected to the system physically and with wires.

In accordance with yet another exemplary embodiment, the electronic controller can be remote from the system physically and is wirelessly connected to the system.

The forgoing and or other features and utilities of the present inventive concept can also be achieved by providing a method of managing unmanned air vehicles (UAVs) according to claim <NUM>.

In accordance with an exemplary embodiment, the method can further include providing a manipulator device to receive a UAV through the opening and to move the UAV vertically within the storage area and horizontally within the storage area, the UAVs being moved horizontally within the storage area to be placed in one of a plurality of cells within the storage area.

The terms "UAV" and "UAV," as defined above, may be used interchangeably in this description.

Directional terms such as "up," "down," "above," "below," etc., are used to describe a component's position relative to other components. Unless otherwise indicated, these terms refer to the relative orientation of the components as illustrated in the drawings, and are not to be considered as defined with respect to ground.

A "communication link", as used in this disclosure, means a wired and/or wireless medium that conveys data or information between at least two points. The wired or wireless medium may include, for example, a metallic conductor link, a radio frequency (RF) communication link, an Infrared (IR) communication link, an optical communication link, or the like, without limitation. The RF communication link may include, for example, Wi-Fi, WiMAX, IEEE <NUM>, DECT, OG, <NUM>, <NUM>, <NUM> or <NUM> cellular standards, Bluetooth, and the like.

Devices that are in communication with each other need not be in continuous communication with each other, unless expressly specified otherwise. In addition, devices that are in communication with each other may communicate directly or indirectly through one or more intermediaries.

Although process steps, method steps, algorithms, or the like, may be described in a sequential order, such processes, methods and algorithms may be configured to work in alternate orders. In other words, any sequence or order of steps that may be described does not necessarily indicate a requirement that the steps be performed in that order. The steps of the processes, methods or algorithms described herein may be performed in any order practical. Further, some steps may be performed simultaneously.

When a single device or article is described herein, it will be readily apparent that more than one device or article may be used in place of a single device or article. Similarly, where more than one device or article is described herein, it will be readily apparent that a single device or article may be used in place of the more than one device or article. The functionality or the features of a device may be alternatively embodied by one or more other devices which are not explicitly described as having such functionality or features.

<FIG> illustrates a UAV retrieval and deployment system <NUM> in accordance with the present inventive concept. The UAV retrieval and deployment system <NUM> illustrated in <FIG> is a modular system that can automate the entire operational cycle of one or more UAVs, including the operations of storage, power management, deployment, recovery, servicing, and strategic coordination to enable persistent operations over a wide geographic area.

The UAV retrieval and deployment system <NUM> according to an exemplary embodiment may further provide a high-level command and control interface to operators without requiring the operator to directly interact with UAV hardware to execute long duration missions requiring multiple recharge cycles per UAV. Therefore, the UAV retrieval and deployment system <NUM> can automate deployment, recovery, and recharge of the UAV assets to maintain mission performance and objectives.

The UAV retrieval and deployment system <NUM> according to an exemplary embodiment may also provide a storage system to manage and service a plurality of UAVs simultaneously.

As illustrated in <FIG>, the reception and deployment system <NUM> includes a platform <NUM> to act as a landing and launching area, a plurality of gantry arms <NUM>, and a storage area <NUM> to store at least one UAV. As will be described in more detail infra, the storage area <NUM> can easily be reconfigured to contain a plurality of UAVs or fewer larger UAVs.

The platform <NUM> is a substantially flat surface, for example a landing pad. The platform <NUM> may be any size and is preferably square or rectangular in shape. However, other shapes may be used according to the particular embodiment. Referring to <FIG>, the platform <NUM> includes a static area <NUM> and a sliding door <NUM>. The static area <NUM> may be a solid area held firmly in place, for example a special type of adhesive, bolts, rivets, and/or screws, such that the static area <NUM> may not move relative to the rest of the system <NUM>.

The sliding door <NUM> may be a panel that can serve as part of the platform <NUM>, while being able to move relative to the static area <NUM>. As illustrated in <FIG>, the sliding door <NUM> may move between a closed position in which the sliding door <NUM> is flush with the static area <NUM> (<FIG>) and an open position in which the sliding door <NUM> is retracted to form an opening <NUM> in the platform <NUM> (See <FIG>, illustrating the sliding door <NUM> in the process of opening). While moving from the closed position to the open position, the sliding door <NUM> may be lowered by a predetermined amount such that the plane of the sliding door <NUM> is below the static area <NUM>, such that the sliding door <NUM> then is retracted, for example slid underneath the static area <NUM>, to form an opening <NUM>. The same operations may be performed in reverse to close the opening <NUM> and reposition the sliding door <NUM> to perform as part of the platform <NUM>. In an example embodiment, as the sliding door <NUM> is moved to the position where the opening <NUM> is fully covered, the sliding door <NUM> can then be raised to be flush with the static area <NUM>. This form of closing ensures a tight seal with weatherproof gaskets <NUM>, which may be formed around the opening <NUM>, and furthermore avoids causing any damage to the gaskets <NUM> that could otherwise occur by lateral movement of the sliding door <NUM>.

The function of the opening <NUM> is to allow UAVs to pass therethrough to enter or exit the storage area <NUM>, described in detail below. The size of the sliding door <NUM> may be approximately equal to the opening <NUM> made when the sliding door <NUM> is completely open. The size of the sliding door <NUM> (and the corresponding opening <NUM>) may be made to accommodate UAVs intended to be handled by the system <NUM>. For example, if the system <NUM> is made to handle relatively small UAVs, the sliding door <NUM> can be made large enough that the small UAVs can pass through the opening <NUM> sized relative to the sliding door <NUM>, while relatively larger UAVs may not. Alternatively, the sliding door <NUM> can be made large enough to accommodate any range of UAV sizes.

In exemplary embodiments of the present inventive concept, the area of the sliding door <NUM> can correspond to between one quarter and one half of the total area of the platform <NUM>, such that the sliding door <NUM> can be retracted as described above to be completely retracted underneath the static area <NUM> so as not to interfere with UAVs being moved to or from the storage area <NUM> (described in detail below). However, the sliding door <NUM> may take up any portion of the platform <NUM> as desired in order to perform the intended purposes as described herein.

In the exemplary embodiment illustrated in <FIG> and <FIG>, two gantry arms <NUM> are illustrated. The gantry <NUM> arms are preferably mounted to respective tracks <NUM> extending along the length of two opposing sides of the platform <NUM> and are configured to move across the width of the platform <NUM>, for example along rails 29a, such that the gantry arms <NUM> may be moved in the tracks <NUM> in a direction substantially perpendicular to the tracks <NUM> to engage with an object (e.g., a UAV) that is positioned any location on the platform <NUM>. In a "home" position as illustrated in <FIG> and <FIG>, or the position when not in use, the gantry arms <NUM> may be positioned at the two opposite edges of the platform <NUM>, so as to leave the platform <NUM> unobstructed for a UAV to land freely on the platform <NUM>. The gantry arms <NUM> serve to manipulate a UAV after it has landed on the platform <NUM>, to accurately lock the UAV in place to keep the UAV from sliding off of the platform <NUM> and to allow the UAV to be moved to a desired location on the platform <NUM>, for example over the sliding door <NUM>. The gantry arms <NUM> may also orient a UAV to be stored in accordance with a process described below. Furthermore, the gantry arms <NUM> can manipulate a UAV to a position on the platform <NUM> in preparation for deployment i.e. takeoff.

<FIG> and <FIG> illustrate components of a gantry arm <NUM> according to an exemplary embodiment of the present inventive concept. As illustrated in <FIG> and <FIG>, each gantry arm <NUM> may include an alignment pin <NUM>, a blade <NUM>, and one or more notches <NUM> with a point 23a therebetween. The gantry arms <NUM> may further include one or more sensors <NUM> (see <FIG> and <FIG>) to detect the location and alignment of a UAV on the platform <NUM>. The sensors <NUM> may be, for example, lasers, cameras, lidar, or any other device suitable to detect the location and orientation of a UAV on the platform <NUM>. The sensors <NUM> are illustrated in <FIG> and <FIG> as being approximately in the middle of a gantry arm <NUM>, but it will be understood that the sensors <NUM> may be in any location that will allow them to detect the location and orientation of a UAV on the platform <NUM>.

Referring to <FIG> and <FIG>, according to an exemplary embodiment, the UAVs to be serviced by the UAV retrieval and deployment system <NUM> can be fitted with a plurality of specifically designed feet <NUM> to support the UAV on the platform <NUM> and to accurately engage with the gantry arms <NUM>. In the exemplary embodiment as illustrated in <FIG>, a UAV is fitted with four feet <NUM>. It will be understood that more or fewer feet <NUM> may be fit on each UAV, according to the design of the UAV or the intended purposes of manipulation of each UAV. The feet <NUM> serve to hold the UAV level on the platform <NUM> and provide points of engagement for the gantry arms <NUM>. Each foot <NUM> may include a hole <NUM> and a slot <NUM>, which may overlap with each other. This arrangement of the hole <NUM> and slot <NUM> is illustrated in <FIG>, depicting an individual foot <NUM> according to an exemplary embodiment. The hole <NUM> may be configured to engage with the alignment pin <NUM>, and the slot <NUM> may be configured to engage with the blade <NUM> (see <FIG> and <FIG>). The overall shape of each foot <NUM> can be made to engage with the notches <NUM> on the gantry arms <NUM> (see <FIG> and <FIG>). In the exemplary embodiment illustrated in <FIG>, each foot <NUM> has a cylindrical shape, to engage with the rounded notches <NUM> illustrated in <FIG> and <FIG>, such that the gantry arm <NUM> may manipulate the UAV per the process described in detail below.

Referring to <FIG>, each foot <NUM> can connected to a leg of the corresponding UAV by an interface point <NUM> that is configured to be capable of attaching to a specific size leg of a UAV. The foot <NUM> may be connected to a corresponding leg of the UAV at the interface point <NUM> by, e.g., an adhesive, screws, or the like. Aside from this interface point <NUM>, each foot <NUM> to be used with the system <NUM> can have a predetermined shape and design regardless of the UAV, since each foot <NUM> will engage with the same gantry arms <NUM>. This construction of the feet <NUM> allows for platform cooperation with any size, shape and type of UAV, i.e., the system <NUM> may service any UAV which has the feet <NUM> mounted thereto, regardless of details such as the UAV manufacturer, the UAV operating system, etc..

In operation, the gantry arms <NUM> may manipulate a UAV on the platform <NUM>. As illustrated in <FIG>, a UAV which has landed on the platform <NUM> most likely will not be perfectly aligned to fit through the opening <NUM> of the system <NUM> or to be stored properly in the storage area <NUM>. Accordingly, the gantry arms <NUM> may detect the position and orientation of the UAV via the sensors <NUM>. In an exemplary embodiment, after a UAV has landed on the platform <NUM> of the system <NUM>, one or more of the gantry arms <NUM> may move fluidly to any position along their respective tracks <NUM>, using the sensors <NUM> that can take several "snapshots" or any other form of an image of the UAV to determine its position and orientation on the platform <NUM>.

After determining the position and orientation of a UAV, the gantry arms <NUM> may then move to engage with the UAV according to the detected position and orientation. In an exemplary embodiment as illustrated in <FIG>, the tracks <NUM> may be moved over the platform <NUM> to any position in order to bring the gantry arms <NUM> towards the UAV.

The gantry arms <NUM> may change the orientation of the UAV via the notches <NUM>. In the exemplary embodiment illustrated in <FIG> and <FIG>, the notches <NUM> are provided in pairs, one on each end of the gantry arms <NUM>, such that the gantry arms <NUM> may be moved to engage with the feet <NUM> from a variety of angles. By pushing the feet <NUM> from opposite sides of the UAV (illustrated in <FIG>) via the notches <NUM>, the gantry arms <NUM> may rotate the UAV in place on the platform <NUM> to achieve a preferred orientation. In an exemplary embodiment, the feet <NUM> on the UAV are cylindrical in shape in order to better enable the rotation of a UAV through interaction with the gantry arms <NUM>.

In an exemplary embodiment, the gantry arms <NUM> may also determine if a UAV has landed on one of the arms <NUM> themselves. When such a determination is made, a free gantry arm <NUM> (i.e., a gantry arm <NUM> that the UAV has not landed on) may be moved to engage the notches <NUM> with the feet <NUM> to rotate the UAV, such that the UAV rotates off the gantry arm <NUM> it has landed on, and is moved freely onto the platform <NUM>. Alternatively, a gantry arm <NUM> that the UAV has landed on may be moved quickly to move out from under the UAV, akin to pulling a tablecloth out from under dishes.

The preferred orientation of the UAV generally includes a pair of feet <NUM> lined up with each gantry arm <NUM>. Once the UAV is in this orientation, the gantry arms <NUM> may close in on the UAV, such that the alignment pin <NUM> on each gantry arm <NUM> can be inserted into a respective hole <NUM> of a corresponding foot <NUM>, and the blade <NUM> on each gantry arm <NUM> can become inserted into the slot <NUM> of a different foot <NUM>. This engagement process is illustrated in <FIG>, respectively illustrating the gantry arms <NUM> prior to engagement of the feet <NUM> of the UAV (<FIG>) and the gantry arms <NUM> after engagement with the feet <NUM> of an oriented UAV (<FIG>).

The alignment pin <NUM> and blade <NUM> of the gantry arms <NUM> enables the gantry arms <NUM> to engage with a variety of different UAVs. Specifically, for each gantry arm <NUM> the alignment pin <NUM> may engage with one foot <NUM>, and the blade <NUM> may engage with another foot <NUM>. As illustrated, for example, in <FIG> and <FIG>, the blade <NUM> may extend over a preset distance that is longer than the width of a UAV foot <NUM>. This construction allows each gantry arm <NUM> to engage with feet <NUM> that are spaced apart by a variety of distances. In other words, the gantry arms <NUM> may engage with UAVs of various sizes, without the gantry arms <NUM> themselves needing to be reconfigured to engage with each specific UAV.

The alignment pins <NUM> and blades <NUM> according to the exemplary embodiment of <FIG> and <FIG> may engage with the feet <NUM> and thereby positively lock the UAV in place on the gantry arms <NUM>. Once the UAV is locked in place, the gantry arms <NUM> can be moved to carry the UAV to any desired location on the platform <NUM>, for example over the sliding door <NUM>. Furthermore, the hole <NUM> and slot <NUM> of each foot <NUM> in accordance with the exemplary embodiment of <FIG> and <FIG> are preferably positioned such that when the alignment pin <NUM> and blade <NUM> engage with the feet <NUM>, the feet <NUM> become raised slightly off the platform <NUM>. This can be accomplished by tapering the hole <NUM> and slot <NUM>, as illustrated, for example in <FIG>. The alignment pin <NUM> and blade <NUM> of the gantry arms <NUM> may begin to engage with the hole <NUM> and slot <NUM>, and the tapered shape of the hole <NUM> and slot <NUM> will lift the UAV off the platform <NUM> when the pin <NUM> and blade <NUM> are fully inserted. Raising the feet <NUM> in this manner minimizes friction of the feet <NUM> against the platform <NUM> while the UAV is moved. After the gantry arms <NUM> release the UAV, the gantry arms <NUM> may move back to the home position at the edges of the platform <NUM>, such that the platform <NUM> is clear to receive another UAV.

A similar process may be used to retrieve UAVs to be deployed from the system <NUM>. When a UAV is moved up through the opening <NUM> to the platform <NUM>, the gantry arms <NUM> may move and engage with the feet <NUM> of the UAV through a similar process. Notably, gantry arms <NUM> will not need to manipulate the orientation of the UAV in this situation, since the UAV is generally raised from the storage area <NUM> to the platform <NUM> of the system <NUM> already in the ideal orientation to be locked to the gantry arms <NUM>. Once locked to the UAV, the gantry arms <NUM> may move the UAV away from the opening <NUM>, allowing the sliding door <NUM> to close, while the gantry arms <NUM> can place the UAV on any desired location of the platform <NUM>. This can occur as a result of using precision motors to operate movement of the gantry arms, <NUM>, such as, for example, stepper motors or any other precision motors that will perform the intended purposes of controlling placement and reception of UAVs as described herein. The gantry arms <NUM> may then move away from the UAV, disengaging from the UAV and returning to the home position, so that the platform <NUM> is cleared and the UAV may be deployed.

The gantry arms <NUM> may also be used to clear the platform <NUM>. For example, if the sensors <NUM> of the gantry arms <NUM> detect a foreign object on the platform <NUM>, for example, debris, snow, or when a UAV is not configured to be engaged by the gantry arms <NUM>, the gantry arms <NUM> may move to sweep off the platform <NUM>. In an exemplary embodiment as illustrated in <FIG>, the platform <NUM> may include a chute <NUM> at one or more sides, such that the gantry arms <NUM> may sweep debris off the platform <NUM> to the chute <NUM> to be removed from the platform <NUM> and clear the way for other UAVs. The chute <NUM> is illustrated in <FIG> with dashed lines to indicate a possible location and orientation for the chute <NUM>. It will be understood that the chute <NUM> may have any shape or location suitable for the specific application of the system <NUM>.

<FIG> illustrate a gantry arm <NUM> in accordance with another exemplary embodiment of the present inventive concept. The gantry arm <NUM> in accordance with the exemplary embodiment of <FIG> are very similar to the gantry arm <NUM> illustrated in the exemplary embodiment of <FIG> and <FIG>, however, the gantry arm <NUM> does not include the alignment pin <NUM> to engage with the hole <NUM> and slot <NUM> of the feet <NUM>, as illustrated in <FIG>. Instead, the gantry arm <NUM> includes a wedge <NUM> with an internal portion 51a that receives the outside of the feet <NUM> such that the feet <NUM> become engaged within an internal portion 51a of the wedge <NUM>. The wedge <NUM> is designed to receive the feet <NUM> such that the internal portion 51a of the wedge <NUM> will be slightly larger in both height and width than the height and width of the feet <NUM>. With this design of the wedge <NUM>, the feet <NUM> will be securely received within the internal portion 51a of the wedge <NUM> without additional room for the respective foot <NUM> to move around, thus providing an engagement between each foot <NUM> and the internal portion 51a of the wedge <NUM> such that precise placement of the UAV can be accomplished with a pair of gantry arms <NUM> disposed on corresponding tracks <NUM>, similar to the arrangement illustrated in the exemplary embodiments of <FIG>, <FIG>, <FIG> and <FIG>. As a result of the specific design of the wedge <NUM>, precise positioning of the UAV at any desired location on the platform <NUM> can be achieved.

<FIG> and <FIG> illustrate exemplary embodiments of a method of removing a foreign object from the platform <NUM> of system <NUM>. In the exemplary embodiment as illustrated in <FIG>, a foreign object A is located on the platform <NUM> between the gantry arms <NUM> (<FIG>). The gantry arms <NUM>,<NUM> can move towards the foreign object A from either side to pinch the foreign object A therebetween (<FIG>). The gantry arms <NUM>,<NUM> may then be moved on their respective tracks <NUM> to accelerate the foreign object A towards an edge of the platform <NUM> (<FIG>). The notches <NUM> in the arms <NUM>,<NUM> may function as stops to keep the foreign object A from slipping out from between the gantry arms <NUM>,<NUM> as the foreign object A is accelerated. The gantry arms <NUM>,<NUM> may separate and pull away from the foreign object A as they reach the edge of the platform <NUM>, such that the foreign object's (A) momentum carries it along its trajectory off the platform <NUM> (<FIG>). Optionally, this trajectory may carry the foreign object A into a chute <NUM>, such as the chute <NUM> is illustrated in the exemplary embodiment of <FIG>.

In the exemplary embodiment illustrated in <FIG> through10C, when a foreign object A is detected on the platform <NUM> between the gantry arms <NUM>,<NUM> (similar to <FIG>), one of the gantry arms <NUM>,<NUM> and its accompanying track <NUM> may be moved to push the foreign object A off the platform <NUM> in a sweeping motion. The sweeping motion may move across the entire platform <NUM>, accelerating the foreign object A towards the edge of the platform <NUM> (<FIG> and <FIG>). As illustrated in <FIG>, the sweeping gantry arm <NUM> and track <NUM> may accelerate to a predetermined location (e.g., the limit of the arm <NUM> and track <NUM>'s movement along the length of the rail 29a) and then stop, allowing the momentum of the foreign object A to accelerate the foreign object A off the platform <NUM>, similarly to the embodiment illustrated in <FIG>. Optionally, the foreign object A may be moved by the sweeping motion such that it is directed into a chute <NUM> such as the chute <NUM> illustrated in <FIG>). In this exemplary embodiment, if there is another gantry arm <NUM> in the path of the sweeping motion to move the foreign object A, that gantry arm <NUM> and corresponding track <NUM> may be moved out of the way, for example by moving to the edge of the platform <NUM> and flipping downward with respect to the platform <NUM>.

<FIG> illustrate an exemplary embodiment in which one gantry arm <NUM>,<NUM> and corresponding track <NUM> has been flipped sideways to be substantially level with the platform <NUM>, thereby clearing the way for the foreign object A to be swept off the platform A.

<FIG> and <FIG> illustrate a storage area <NUM> according to an exemplary embodiment of the present inventive concept. The storage area <NUM> in <FIG> may include one or more cells <NUM>, each cell <NUM> including a corresponding tray <NUM>. Each cell <NUM> may store a single UAV on the corresponding tray <NUM>. As such, more cells <NUM> equate to more UAVs being stored in storage area <NUM>. As illustrated in <FIG>, the storage area <NUM> may further include a manipulator <NUM>, for example an arm and/or a set of rails, to deliver the UAVs to their respective cells <NUM> after retrieval. The manipulator <NUM> can also retrieve the UAVs from their respective cells <NUM> and move the retrieved UAV below the sliding door <NUM> or opening <NUM> prior to deployment. The cells <NUM> are preferably arranged in a grid formation as illustrated in <FIG>, to allow the manipulator <NUM> to move efficiently to a selected cell <NUM>.

<FIG> illustrate a tray <NUM> among a plurality of trays (in this example vertically stacked) according to an exemplary embodiment of the present inventive concept. The trays <NUM> may each be a uniform size, to enable easier storage in the cells <NUM>. Furthermore, each tray <NUM> may be constructed to hold a specific UAV. More specifically, each tray <NUM> may include slots <NUM> specific to the positioning of the feet <NUM> on the corresponding UAV. That is, the slots <NUM> may be arranged on the tray <NUM> in the same pattern as the feet <NUM>, such that each foot <NUM> fits into a corresponding slot <NUM> when the UAV is aligned with and attached to the tray <NUM>. Each tray <NUM> may further include one or more sockets <NUM> to interface with the UAV and provide power and/or data to the UAV. The socket(s) <NUM> may be any configuration suitable to transfer data and/or power, including, for example, male/female connectors for hardline connections, or a pair of coils for inductive (wireless) charging. The tray <NUM> may also include a power supply <NUM> specific to the UAV, for example a power adapter to convert input power (e.g., <NUM> volts alternating current from a United States standard wall socket) to the specific power requirements of the UAV. Each tray <NUM> therefore functions as an adapter to charge the UAV and also to allow a controller <NUM> (described in detail below) to interface with and communicate with the UAV. The socket(s) <NUM> are preferably self-aligning, i.e., configured such that the UAV may be connected to the socket(s) <NUM> by being engaged with the tray <NUM>, and similarly the UAV may be disconnected from the socket <NUM> by disengaging the UAV from the tray <NUM>, as described above. That is, the socket(s) <NUM> do not need to be separately connected to the UAV after it is engaged with the tray <NUM>, nor do they need to be separately disconnected from the UAV prior to disengaging the UAV from the tray <NUM>.

Each tray <NUM> may further include a plurality of supports <NUM> to lock the propellers of the UAV in place during storage. In an exemplary embodiment, these supports <NUM> are specific to the UAV to be held on the tray <NUM>. The supports <NUM> may be shaped and positioned to correspond with propellers on the UAV, such that the propellers are moved into a storage position and held firmly in place by the supports <NUM>. This ensures that the propellers are kept from rotating and are held in an optimum position to not interfere with the operation of any of the components of the system <NUM>, for example the sliding door <NUM> or the manipulator <NUM>.

In an exemplary embodiment illustrated in <FIG>, the supports <NUM> may be thin slats with pointed ends 38a. The angled surfaces of the UAV's propellers may deflect off of the end 38a of the supports <NUM> as the UAV is engaged with (e.g., lowered onto) the tray <NUM>. This deflection may rotate the propellers until they hit the sides of the supports <NUM> and are held in place thereby.

Referring back to <FIG>, each tray <NUM> may further include an engagement point <NUM> to interface with the manipulator <NUM>. The engagement point <NUM> may be, for example, a mechanical device such as, for example, a socket or handle. Alternatively, the engagement point <NUM> may be a magnet or other non-mechanical device to allow the manipulator <NUM> to engage with the tray <NUM> and move the tray <NUM> into a desired position.

Once the cell(s) <NUM> are placed in the storage area <NUM>, the cells <NUM> are preferably static and do not move relative to the rest of the system <NUM>. Each cell <NUM> may support a tray <NUM>. As illustrated in <FIG>, each cell <NUM> may include mechanisms, e.g., rails 31b, to enable efficient insertion and removal of a tray <NUM>. Each cell <NUM> may also include a locking mechanism 31c, which may be included in rails 31b, to hold the corresponding tray <NUM> in place when not in use. The locking mechanism 31c may be any device which may hold the tray <NUM> in place, e.g., a magnet, a clamp, or a door. This locking mechanism 31c may release the tray <NUM> shortly before or shortly after the manipulator <NUM> engages with the tray <NUM>, to thereby enable the tray <NUM> to be removed from the cell <NUM>. Similarly, the locking mechanism 31c may engage with a tray <NUM> shortly before or shortly after the manipulator <NUM> disengages from the tray <NUM> after the tray <NUM> has been inserted into the cell <NUM> for storage. The locking mechanism 31c is described in more detail while referring to <FIG>.

Each cell <NUM> also preferably includes a connector point 31a for power and data, which may interface with one or more corresponding connection points 32a on the tray <NUM> when the tray is inserted into the cell <NUM>. Once the tray <NUM> is locked in place in the cell <NUM> via the locking mechanism(s) 31c, power may be connected from the cell <NUM> to the power supply <NUM> of tray <NUM>, powering the UAV through the socket(s) <NUM>. Similarly, a hardline wired communication link for data may also be established through the sockets(s) <NUM> to the connection with the cell <NUM> (for example, via connector points 31a and connection points 32a), to enable communication between the UAV and a controller <NUM> (described in detail below).

Each cell <NUM> may be sized to hold the UAV supported by the corresponding tray <NUM>. The cells <NUM> may be adjusted with respect to location in the storage area <NUM>, and the cells <NUM> may also be adjusted in size. For example, if an existing UAV is replaced by a new, larger UAV, the corresponding cell <NUM> may be enlarged, such that only the tray <NUM> needs to be replaced for the system <NUM> to accommodate the new UAV. Alternatively, the cells <NUM> may be modular in construction such that individual cells <NUM> may be quickly disengaged from the storage area <NUM> and replaced with other cells <NUM> having different sizes.

<FIG> further illustrate the functionality of the manipulator <NUM> according to an exemplary embodiment of the present inventive concept. As illustrated therein, the manipulator <NUM> may be configured for three-dimensional movement, such that the manipulator <NUM> may align with a desired cell <NUM> and engage with the tray <NUM> stored therein, as illustrated in <FIG>. The manipulator <NUM> may be, for example, connected to a set of beams or tracks, allowing for movement along x, y, and z axes through the storage area <NUM>. In an exemplary embodiment of the present general inventive concept, the manipulator <NUM> may include multiple components to handle motion along different axes, for example an elevator 33a to control up-and-down motion (z-axis), a set of rails 33b to control side-to-side motion (x-axis), and a transport plate 33c to extend to and support the tray <NUM> (y-axis).

According to an exemplary embodiment of the present inventive concept, the manipulator <NUM> may engage with a tray <NUM> by aligning with the cell <NUM> and then extending the transport plate 33c, an actuator, or other device to connect with the engagement point <NUM> of the tray <NUM>. As described above, this engagement may be mechanical, for example by a hook or claw attaching to a handle or socket, or non-mechanical, for example by a magnet or electromagnet. Once engaged with a tray <NUM>, the manipulator <NUM> may draw the tray <NUM> out from the cell <NUM> (<FIG>), and carry the tray <NUM> to a position directly below the closed sliding door <NUM> of the platform <NUM> (<FIG>; sliding door <NUM> not illustrated in order to show position of tray <NUM>). The sliding door <NUM> can then open as described above and allow the tray <NUM> to be raised up through the opening <NUM> via the elevator 33a of the manipulator <NUM> (<FIG>). Once the tray <NUM> is raised up through the opening <NUM>, the gantry arms <NUM>,<NUM> can move to grasp the UAV supported on the tray <NUM> and move the UAV off the tray <NUM> and over the platform <NUM>. Once the arms have engaged with the UAV, the manipulator <NUM> may lower the tray <NUM> away from the opening <NUM>, thereby disengaging the UAV from the tray <NUM> and allowing the sliding door <NUM> to close. The gantry arms <NUM>,<NUM> may then position the UAV on the platform <NUM> for deployment, as described above.

Similarly, when a UAV has landed on the platform <NUM> from flight and must be retrieved and stored, the manipulator <NUM> may retrieve the corresponding tray <NUM> and raise it up to the sliding door <NUM>, which can open as described above. The gantry arms <NUM>,<NUM> may change the orientation of the landed UAV as described above. Preferably, the gantry arms <NUM>,<NUM> move the UAV such that data and power ports on the UAV will line up with and engage with socket(s) <NUM> on the tray <NUM>, and the feet <NUM> will align with the slots <NUM> on the tray <NUM>. The gantry arms <NUM>,<NUM> may move the oriented UAV to the tray <NUM> and release the UAV by moving away from it, thereby depositing the UAV onto the tray <NUM>. In an exemplary embodiment, the gantry arms <NUM>,<NUM> may move the UAV into position over the opening <NUM> and the manipulator <NUM> may then lift the tray <NUM> up to engage with the feet <NUM> and power/data ports of the UAV, after which the gantry arms <NUM>,<NUM> may release the UAV. Once the UAV is engaged by the tray <NUM> and released by the gantry arms <NUM>,<NUM>, the manipulator <NUM> may then move the tray <NUM> carrying the UAV away from the opening <NUM>, allowing the sliding door <NUM> to close while the manipulator <NUM> carries the tray <NUM> back to the corresponding cell <NUM>.

<FIG> show details of the locking mechanism 31c as briefly discussed and illustrated as illustrated with reference to <FIG> and <FIG>. Referring to <FIG>, at least one rail 31b per cell <NUM> can include a cam 31c1 fixed within a slot 31c2 of the rail 31b. The cam 31c1 can rotate on a rotation axis 31c3, and is biased to a position to interfere with the slot 31c2 of the rail 31b. A cam unlock linkage 31c4 can be connected underneath an outer end of the rail 31b with respect to its corresponding cell <NUM>. A tray <NUM> can be inserted and removed from a corresponding set of rails <NUM> via respective slots 31c2 along each rail 31b, as illustrated in <FIG>. The cam unlock linkage 31c4 can include a first end with a knob 31c5 and a linkage spring 31c6 which biases the cam unlock linkage 31c4 outward. When the cam unlock linkage 31c4 is pushed in a depress direction D to unlock the cam 31c1, the linkage spring 31c6 will bias the unlock linkage 31c4 in an opposite direction back outward toward its original "locked" position as illustrated in <FIG>. When the cam unlock linkage 31c4 is pushed in the direction D, a second end thereof, opposite the first end including the knob 31c4, will bias a lever 31c7, which in turn will rotate the cam 31c1 from its locked position to an open position to clear the slot 31c2 such that the inserted tray <NUM> can be freely withdrawn from its cell <NUM>. When a tray <NUM> is being inserted along the rails 31b as illustrated in <FIG>, the cam 31c1 will be biased by the tray <NUM> to rotate to an open position where the cam 31c1 is not blocking the slot 31c2 so that the tray <NUM> can be slid completely into the cell <NUM>. The lever 31c7 is connected to the cam 31c1 such that when biased by pushing the knob 31c5, the lever 31c7 will force the cam 31c1 to rotate to its open position so that the tray <NUM> can be removed from the cell <NUM>. The cam's 31c1 resting position is at the locked position so that a tray <NUM> that is fully placed in the cell <NUM> will be prevented from sliding out of the cell <NUM> by a cam contact area A, as illustrated in <FIG>. The cam contact area A will make contact with the tray contact area 32a illustrated in <FIG>. When the cam contact area A is in contact with the tray contact area 32a, the tray <NUM>, with or without a UAV connected thereto, will be securely fastened in a respective cell <NUM> until the knob 31c5 is pushed in the depression direction D, which will in turn push the lever 31c2 to rotate the cam 31c1 to its open position where the cam contact area A will rotate into the rail slot 31c2 so that the tray <NUM> is free to be withdrawn from its cell <NUM>.

The system <NUM> according to various embodiments of the present inventive concept may also include a controller <NUM>. The controller <NUM> may be, for example, a computer, machine, device, circuit, component, or module, or any system of machines, devices, circuits, components, modules, or the like, which is/are capable of manipulating data according to one or more instructions, such as, for example, without limitation, a processor, a microprocessor, a central processing unit, or the like. <FIG> illustrate a top-down views of two separate exemplary embodiments of the system <NUM> including the controller <NUM>. As illustrated in the exemplary embodiment of <FIG>, the controller <NUM> may be integrated with the rest of the system <NUM>. Alternatively, as illustrated in <FIG>, the controller <NUM> may be separate, communicating with the rest of the system <NUM> by a wired or wireless communication. The controller <NUM> may control the operations of the system <NUM> to handle UAV retrieval and deployment. The controller <NUM> may control the gantry arms <NUM>,<NUM> as described above, according to input from the sensors <NUM> mounted thereon. Similarly, the controller <NUM> can control the manipulator <NUM> as described above.

Referring back to <FIG> and <FIG>, the system <NUM> may further include one or more sensors <NUM>, which track the location and speed of UAVs relative to the platform <NUM>. The sensor(s) <NUM> may be, for example, one or more cameras for image processing with object or IR tracking, a global positioning system (GPS), radar, lidar, UWB (ultra wide band) positioning, or any other sensing device. The sensor(s) <NUM> may also include, for example, weather sensors (e.g., windspeed sensors, humidity sensors, thermometers, etc.) to determine weather conditions, as well as accelerometers and/or position sensors to determine the motion of the platform <NUM>, for example if the system <NUM> is mounted on a moving vehicle, boat, etc. The sensors <NUM> are illustrated in <FIG> and <FIG> as being located on the ends of the tracks <NUM> of the gantry arms <NUM>, but it will be understood that the sensors <NUM> may be in any suitable location depending on their respective functions.

The controller <NUM> according to the two exemplary embodiments of <FIG> may also include a communication interface <NUM> to allow the controller <NUM> to establish a communication link with UAVs. The communication interface <NUM> may be any device or combination thereof that allows for wireless communication with one or more UAVs. Via the communication interface <NUM>, the controller <NUM> may establish a communication link with one or more UAVs to transmit and receive data. In an exemplary embodiment, the controller <NUM> may receive a request via the communication interface <NUM> from a UAV to land at the system <NUM>. The controller <NUM> may then receive environmental data via the sensors <NUM> to determine a relative position solution, i.e., a flight plan for the UAV to successfully land on the platform <NUM>. This environmental data may include, for example, the position and velocity of a UAV relative to the platform <NUM>, accounting for factors such as the movement of the platform <NUM> itself, as well as other factors such as, for example, wind speed and direction. The controller <NUM> may transmit this environmental data to the UAV to enable the UAV to calculate a relative position solution to land on the platform <NUM>. Alternatively, the controller <NUM> may calculate a relative position solution and transmit this calculated relative position solution to the UAV, which can be useful when the UAV lacks the processing power to calculate the relative position solution on its own. In an exemplary embodiment, the UAV uses the calculated relative position solution to land approximately in the center of the platform <NUM>. After landing, the UAV may disarm itself by turning off its propellers, and signal to the controller <NUM> that it is ready to be picked up by the gantry arms <NUM>,<NUM> and accepted into a cell <NUM> of the storage area <NUM>. In another exemplary embodiment, the UAV may turn off its propellers upon instruction by the controller <NUM>, which subsequently controls the gantry arms <NUM> to pick up the UAV.

The controller <NUM> may similarly provide environmental data to the UAV during deployment to allow for a more efficient deployment/launch. For example, the controller <NUM> may provide data or flight plans to the UAV to allow it to compensate for wind or motion of the platform <NUM> during deployment.

The controller <NUM> may provide the environmental data and/or relative position solution to a UAV in a single transmission. Alternatively, the controller <NUM> may provide and/or update this data at regular intervals. According to another exemplary embodiment, the controller <NUM> may stay in constant communication with a UAV during retrieval and deployment, providing updates on the UAV's relative position and speed with regard to the platform <NUM>, and updating the environmental data and/or relative position solution. This may allow smoother and more reliable UAV retrieval and deployment.

The controller <NUM> may also communicate to the UAV after it has landed, to instruct the UAV to power down its propellers before the gantry arms <NUM> interact with it, as noted above. Similarly, the controller <NUM> may inform the UAV when it is free to take off, i.e., when the gantry arms <NUM> have released it on the platform <NUM>, such that the UAV is clear to start its propellers without damaging itself or any part of the system <NUM>.

The controller <NUM> may also communicate with the UAVs in the storage area <NUM>. This communication may be via the wireless communication interface <NUM>, or via the sockets <NUM> in each tray <NUM>. In this manner, the controller <NUM> and stored UAVs may exchange data between each other, for example mission instructions, flight data, images, sensor data (e.g., air temperature, wind speeds, radiation levels, moisture content, air density, contaminants, etc.), video, audio, and/or any other relevant data.

The controller <NUM> may also maintain a registry of UAVs serviced by the system <NUM>. This registry may include, for example, size and type of each UAV. Registration of a UAV may be performed in advance, or may be performed upon request. For example, if a UAV requests landing at the system <NUM>, as part of this request the UAV may provide, e.g., data regarding its size and type, so that the controller <NUM> may add this data to the registry. The controller <NUM> may also maintain a list of which types of UAV the system <NUM> may service, so that these requests may be processed accordingly, e.g., an incompatible UAV attempting to land may be denied landing, or an alert message may be sent to an operator.

The registry maintained by the controller <NUM> may further include the capabilities, i.e., UAV compatibilities, of each cell <NUM> and tray <NUM> in the storage area <NUM>. Similarly, the registry may store the location (i.e., cell <NUM> and tray <NUM>) of each UAV stored in the storage area <NUM>. Accordingly, when a UAV is requested by, for example by an operator, the controller <NUM> may control the manipulator <NUM> to retrieve the tray <NUM> carrying the requested UAV from the corresponding cell <NUM>. Similarly, when a UAV returns to the system <NUM> to land it may send a request-to-land signal. The controller <NUM> may check the registry for a compatible empty tray <NUM> in the storage area <NUM>. If the request-to-land signal is accepted and a compatible empty tray <NUM> is found, then the controller <NUM> indicates to the UAV and software package that is controlling the UAV that it has permission to land. The UAV may then land and be stored as described above.

Since the controller <NUM> controls all components of the system <NUM>, the controller <NUM> may synchronize the system <NUM>'s operations to increase efficiency. For example, when a UAV lands on the platform <NUM>, the controller <NUM> may control the manipulator <NUM> to retrieve the corresponding tray <NUM> and move the tray <NUM> into position under the sliding door <NUM> while simultaneously controlling the gantry arms <NUM> to manipulate and engage with the UAV. This synchronization allows the system <NUM> to more efficiently service multiple UAVs.

The controller <NUM> can also function as a communication hub, receiving input from one or more deployed UAVs. The controller <NUM> can store and/or transmit this data to an external terminal, for example an operator's computer, via the communication interface <NUM> or other communication device. Similarly, the controller <NUM> can receive instructions, for example a flight plan, from an external terminal and relay these instructions to a UAV. This allows a remote human operator to control one or more UAVs through the system <NUM> without needing to be physically present.

Mission operation may be performed through a software API (application program interface). This allows the controller <NUM> to interface with Uls (user interfaces) of different UAVs, such that operators may send direct commands to the UAVs via the respective Uls while all being coordinated by the same controller <NUM>. The controller <NUM> can also interface with automated software packages that do not use operator inputs directly. An example of such an automated software package is a perimeter security system that scans for motion and requests a UAV to a location when movement is detected. Any number of different control software packages can be used simultaneously, coordinated through the controller <NUM>. The system <NUM> according to an exemplary embodiment of the present inventive concept can therefore act as a base station of resources that can be requested for a given application on demand.

The controller <NUM> can also monitor the status of UAVs registered to the system <NUM>, enabling increased efficiency of operation. For example, via the wireless interface the controller <NUM> can monitor the battery levels of UAVs that have been deployed. If the controller <NUM> determines that UAV power levels have fallen below a certain threshold or alternatively a UAV notifies the controller <NUM> that its power levels have fallen below the threshold, the controller <NUM> can control the system <NUM> to deploy another UAV to relieve the currently-deployed UAV. According to an exemplary embodiment, the "relief" UAV having charged batteries can be directed by the controller <NUM> to fly into proximity with the "deployed" UAV having depleted batteries. After optionally sending a notification to an operator, a data feed, e.g., a video feed, being received at the controller <NUM> from the deployed UAV may be stopped while simultaneously starting an identical data feed from the relief UAV to the controller <NUM>. Similarly, control from an operator may be switched from the deployed UAV to the relief UAV, such that the operator may control the relief UAV. In other words, the relief UAV may take over the job of the deployed UAV. The deployed UAV may then return to the system <NUM> for retrieval and recharging.

In an exemplary embodiment, an operator receiving the data feed experiences no interruption of service - as one data feed ends, another identical one begins. This enables "persistence through mission sharing," or prolonged missions and cooperative use of UAVs.

When a launch command is received, the controller <NUM> may check the available UAVs to determine if one is ready to be deployed. Parameters such as battery level, maintenance schedule, sensors/payloads ready, and others are checked to verify deployment readiness. An operator can request a specific UAV by name or the operator can request any suitable UAV that meets some threshold of performance. This may be, e.g., maximum flight time, flight speed, or sensor type. According to some aspects of the disclosure, UAVs with varying payloads can be stored and requested based on the type of mission. After a UAV is selected for deployment, the controller <NUM> may identify the cell <NUM> that the vehicle is stored in and retrieve and deploy this UAV according to the processes described above.

While stored in storage area <NUM>, UAVs may have batteries charged and payloads reloaded. The storage area <NUM> may include a payload manipulation component, e.g., one or more arms, configured to add a payload, remove a payload, modify a currently mounted payload on a UAV, and/or other payload manipulations. For example, the payload manipulation component may be configured to load or remove payloads such as mail, supplies, scientific samples (e.g., soil, ice samples, etc.), and/or any other payloads. The payload manipulation component can also be configured to add or remove components of the UAVs themselves, for example sensors and battery cells <NUM> (see <FIG>).

According to an exemplary embodiment of the present inventive concept, as illustrated in <FIG>, the storage area <NUM> may include one or more other sectors <NUM> for maintenance and modification of UAVs. In an exemplary embodiment, the storage area <NUM> may include a sector <NUM> set aside for maintenance, and another sector <NUM> set aside for inspection of UAVs. A tray <NUM> carrying a UAV may be moved into these sectors <NUM> by the manipulator <NUM>, wherein the UAV on the tray <NUM> may be modified, inspected, and so on. The payload manipulation component may be included in one of these sectors <NUM>.

In accordance with exemplary embodiments herein, an automated retrieval and deployment system <NUM>, such as the ones described herein, may create significant capabilities for small autonomous aircraft. Persistent missions will extend operator on-task times by orders of magnitude, multiplying the effectiveness of UAVs currently in use. Deployment and retrieval from a moving platform will enable a range of applications that were previously not achievable.

The automated retrieval and deployment system <NUM> may further be enclosed and weatherproof, such that only the platform <NUM> and gantry arms <NUM> are exposed to the elements. This allows the automated retrieval and deployment system <NUM> to be placed in hostile environments with a reduced risk of damage.

The automated retrieval and deployment system <NUM> may also allow for rapid or "pop-up" setup. The automated retrieval and deployment system <NUM> may be positioned anywhere there is room for it and there is a power supply. The automated retrieval and deployment system <NUM> may be constructed to be modular and readily disassembled and reassembled. For example, wires in the automated retrieval and deployment system <NUM> may include plugs to allow rapid unplugging and plugging in, whereas the platform <NUM> and storage area <NUM> may be constructed to be broken down into two or more parts which can then be transported and reassembled. This construction allows the automated retrieval and deployment system <NUM> to be more easily transported to a desired location.

The automated retrieval and deployment system <NUM> may also be scaled to any desired size - a larger automated retrieval and deployment system <NUM>, including a corresponding larger platform <NUM> and larger storage area <NUM>, may accommodate more UAVs and/or larger UAVs. Conversely, a smaller automated retrieval and deployment system <NUM> may be more easily transported, allowing for efficient pop-up installation of the system <NUM> and deployment of UAVs.

The automated retrieval and deployment system <NUM> may configure itself upon activation to account for its size. For example, when the controller <NUM> is activated, it may control the gantry arms <NUM>,<NUM> to move through a pre-set pattern, using the sensors <NUM> in the gantry arms <NUM>,<NUM> to determine the size and shape of the platform <NUM> so that the controller <NUM> may account for this size and shape during operation of UAVs. In other words, the automated retrieval and deployment system <NUM> size may be modified as necessary without disrupting operations.

By deploying a series of automated retrieval and deployment systems <NUM> according to exemplary embodiments of the present inventive concept, an operational range of UAVs may be greatly extended. For example, a UAV deployed from a first automated retrieval and deployment system <NUM> may request landing at a second automated retrieval and deployment system <NUM>, and may land at the second automated retrieval and deployment system <NUM> for recharging and subsequent redeployment, thereby allowing the UAV to travel much further from its "home" automated retrieval and deployment system <NUM> than would normally be allowed by the UAV's relatively short operational range.

<FIG> illustrates a side view of an automated retrieval and deployment system <NUM> according to various exemplary embodiments of the present inventive concept, which can be connect to a trailer or similar mobile vehicle for transport to any desired terrain where UAVs are desirable. As a result of the safety features such as the rails 31b and locking mechanism 31c to hold the corresponding tray <NUM> in place, and the supports <NUM> to maintain the propellers stationary, as described supra, the UAVs can easily handle transportation along most any terrains.

<FIG> illustrates a top view of the automated retrieval and deployment system <NUM> of <FIG>, where the gantry arms <NUM>,<NUM> are exposed along corresponding rails <NUM>, and the door <NUM> is in the fully open position, thus not visible, but instead exposing the opening <NUM> through which the UAVs can be stored in in the system and withdrawn from the system <NUM>. In this example embodiment side doors <NUM> can open and close to expose the UAVs within the system <NUM> for access thereto. The doors <NUM> also provide for convenience of maintenance of the interior of the system <NUM>. When designed to be mounted on a trailer such as illustrated in <FIG> and <FIG>, the automated retrieval and deployment system <NUM> has been manufactured to hold <NUM> UVAs. However, the automated retrieval and deployment systems <NUM> according to the exemplary embodiments as described herein can be manufactured to hold a larger or smaller number of UAV's depending on the uses thereof.

Through use of the system <NUM> to enable persistent missions as above, an operator may stay on task and is free to perform lengthy operations. Initial applications may include inspection tasks on power lines and wind turbines as well as persistent eye-in-the-sky tasks for police and news stations.

Exemplary embodiments of the system <NUM> according to the present disclosure enable swarming capabilities and a force multiplication effect where relatively few operators can perform abstracted tasks such as observation of a large area. With the automated retrieval and deployment system <NUM>, the time to deploy a UAV may be reduced substantially and the preparation time may be, e.g., zero. Significant numbers of UAVs can reach the sky simultaneously only limited by the duty cycle of the automated retrieval and deployment system <NUM>. Current estimates (e.g., <NUM> flight; <NUM> retrieval/deployment; <NUM> arm) would put <NUM> drones in the air; a number that is positively coupled with battery technology and would increase over time. Large numbers of UAVs in the air simultaneously will create new applications that haven't yet been explored. Fire monitoring, situational awareness, and search and rescue missions would benefit with more sensors and cameras in the air. Furthermore, a single operator may control and manage multiple UAVs efficiently, since the controller <NUM> can automate the often complicated processes of retrieval and deployment, as well as monitoring the condition (e.g., battery level) of each UAV. Since UAVs can be recalled and replaced automatically, a network of UAVs can be "self-healing," i.e., UAVs can be efficiently replaced as needed.

The automated retrieval and deployment system <NUM> may also enable swarming persistent missions from moving vehicles in civilian and military applications. Applications may include, e.g., search and rescue missions while driving through a backcountry; multiple camera angles per sailboat in a boat race; situational awareness tools for a moving convoy; wildfire monitoring equipment from a valuable vantage point; and monitoring a moving target, such as a motorcade.

Claim 1:
A system to manage unmanned air vehicles (UAVs) (<NUM>) comprising:
an enclosed storage area (<NUM>) including at least one cell (<NUM>) formed therein to receive and store at least one UAV;
a platform (<NUM>) to receive a UAV from a flight and to support a UAV for launching, the platform (<NUM>) including an electronic sliding door (<NUM>) to act as a part of the platform (<NUM>),
characterized in that
the door (<NUM>) being configured to drop down by a predetermined amount with respect to the platform (<NUM>) and slide thereunder along a pair of tracks (<NUM>) to create an opening (<NUM>) in the platform (<NUM>) to allow UAVs to enter and exit the storage area (<NUM>); and further comprises
a pair of gantry arms (<NUM>, <NUM>) movable to pick up and position a UAV anyplace along the platform (<NUM>) and to a position over the opening (<NUM>).