US010324462B2
(12) United States Patent
( 10) Patent No.: US 10 ,324 ,462 B2
Jassowski et al.
(45 ) Date of Patent:
(54 ) DRONE SWARM FOR INCREASED CARGO
CAPACITY
References Cited
U .S . PATENT DOCUMENTS
(56 )
( 71 ) Applicant: Intel Corporation , Santa Clara , CA
5 ,521,817 A * 5 / 1996 Burdoin .............. G05D 1/0027
244/ 190
9 ,205,922 B1 * 12/ 2015 Bouwer ............ ...... B64D 9 /00
(Continued )
(US)
(72 ) Inventors : Michael A Jassowski, El Dorado, CA
(US); Ashwin S Thirunahari, Folsom ,
FOREIGN PATENT DOCUMENTS
CA (US )
(73 ) Assignee : Intel Corporation , Santa Clara , CA
(US )
Jun . 18, 2019
101614620 B1
4 /2016
WO - 2014080386 A2
5 / 2014
KR
KR
WO
101636478 B1
7 /2016
Subject to any disclaimer, the term of this
U . S .C . 154 (b ) by 153 days .
( 21) Appl. No.: 15 /395 , 180
OTHER PUBLICATIONS
“ International Application Serial No. PCT/US2017 /063113 , Inter
national Search Report dated Mar. 12 , 2018 ” , 3 pgs .
(Continued )
( 22 ) Filed :
(74 ) Attorney, Agent, or Firm — Schwegman Lundberg &
( * ) Notice:
(65 )
patent is extended or adjusted under 35
Primary Examiner — Spencer D Patton
Dec . 30 , 2016
Woessner, P . A .
Prior Publication Data
US 2018 /0188724 A1 Jul. 5 , 2018
(51) Int. Ci.
G05D 1 / 00
B64C 39 /02
ABSTRACT
(57 )
cargo capacity . A drone swarm may include a networked
drone system or two ormore drones , such as a parent drone
and a child drone . A method may include receiving support
component balance information captured by an inertial
Systems and methods may use a drone swarm to increase
( 2006 .01)
( 2006 .01)
G05D 1/ 10
(2006 . 01)
(52) U . S . CI.
CPC ......... G05D 1/0027 (2013 . 01) ; B64C 39/024
( 2013 .01) ; G05D 1/ 104 ( 2013 .01) ; B64C
2201
/12013.01);GOSD 1/102 128B64C 39/02.
2201 /128 (2013.01); B64C 2201/ 143 (2013 .01 )
(58 ) Field of Classification Search
CPC ........ GO5D 1/0027; G05D 1/ 104 ; B64D 3 /00 ;
B64D 1702 ; B64D 1/ 22 ; B64C 39/024 ;
B64C 2201/ 128 ; B64C 2201/ 143 ; B64C
2201/146
See application file for complete search history.
measurement unit on the support component supported by a
parent drone, adjusting movement of the parent drone
according to a control system using the support component
balance information , receiving an indication of a low battery
in a drone in the networked drone system , the indication
including an identification of a replacement drone to replace
the drone with the low battery in the networked drone
system , and sending a reconfiguration command to at least
one child drone to incorporate the replacement drone in the
networked drone system .
25 Claims, 7 Drawing Sheets
OR114
106
104
102
108
116 2
- 118
US 10 ,Page
324,2462 B2
(56)
References Cited
U . S . PATENT DOCUMENTS
2015/ 0327136 A1 * 11/2015 Kim ...................... H04W 36/ 08
370 /331
2016 /0236778 A1 8 /2016 Takayama et al.
2016 /0304217 Al 10 / 2016 Fisher et al.
2016 /0378108 A1 12 / 2016 Paczan et al.
2018/0246529 Al * 8/ 2018 Hu .. ...
..... GO5D 1/0202
OTHER PUBLICATIONS
“ International Application Serial No. PCT/US2017 /063113 , Written
Opinion dated Mar. 12 , 2018 ” , 11 pgs .
* cited by examiner
atent
Jun . 18 , 2019
US 10 ,324,462 B2
Sheet 1 of 7
Am 100
ww
wa
RATI
MOVE
AKX
H
ARA
106
104
X
.
S
C
www
102 w
.4
9
ar
withthe
Water
car er
XX
116 -
W
YuriWANE
118
FIG . 1
atent
Jun . 18 , 2019
US 10,324,462 B2
Sheet 2 of 7
Awam 200
206
214
210 ,
FIG 2
enn 212
Am 300
302
302
www 306 —
w
308
WINONE
FIG . 3
atent
MAR
Jun . 18 , 2019
Sheet 3 of 7
402
WA
404
- 406
www 408
FIG . 4
US 10 ,324 ,462 B2
atent
Jun . 18 , 2019
Sheet 4 of 7
US 10 ,324 ,462 B2
- 500
518
. ..
* 520
516
502 recept
1506
- --
508
po 510
FIG . 5
atent
Jun . 18 , 2019
US 10 , 324 ,462 B2
Sheet 5 of 7
600
A NETWORKED DRONE SYSTEM
602
608
REPLACEMENT
DRONE
PLURALITY
OF DRONES
604
PARENT
DRONE
CHILD
DRONE
som 606
SUPPORT PLATFORM
612
CARGO
IMU
610
FIG . 6
atent
US 10,324,462 B2
Sheet 6 of 7
Jun . 18 , 2019
Aerom 700
702
RECEIVE SUPPORT COMPONENT BALANCE
INFORMATION CAPTURED BY AN INERTIAL
MEASUREMENT UNIT ON A SUPPORT COMPONENT
K
uuuuuuu
ADJUST MOVEMENT OF A PARENT DRONE IN A
NETWORKED DRONE SYSTEM USING THE
SUPPORT COMPONENT BALANCE INFORMATION
UKUU
..
. . . . . .
. . . . .
. . .
WS
X UK
706
In
a
•
P
AN
N
N
1
RECEIVE A MOVEMENT COMMAND
*
*
*
1Sonna FROM
A REMOTE CONTROL DEVICE I
ww www www w w w w want you www www ww www ww ww www www met
X
708oss- somm
me me me me me me me me me me me me me me me me me money
MOVE THE SUPPORT COMPONENT
!
1 ACCORDING TO THE MOVEMENT COMMAND
in an
710 -
RECEIVE AN INDICATION OF A
LOW BATTERY IN A DRONE IN THE
NETWORKED DRONE SYSTEM
712mm
XX
KE
LUXURY
EX
+
+
SEND A RECONFIGURATION COMMAND TO AT LEAST
+
+
+
+
ONE CHILD DRONE TO INCORPORATE A REPLACEMENT
+
+
+
1
.
+
+
.
+
DRONE IN THE NETWORKED DRONE SYSTEM
wwwwwwwwwwwwwww
wwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwww
FIG . 7
wwwwwwwwwwwwwwwwwwwwwwwwwwww
+
.
.
.
+
atent
Jun . 18 , 2019
808
- 802
PROCESSOR
US 10,324 ,462 B2
Sheet 7 of 7
how 8241
810
X
INSTRUCTIONS
DISPLAY DEVICE
DET
TAMARA
UNUN
MAI
Who
INSTRUCTIONS
w
w
806
STATIC MEMORY
??:
824
ATERHMW
WINTERLINKw
INSTRUCTIONS
w
wwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwww
SENSOR (S)
HU
W
.
A
NETWORK
wwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwwww
WY
UINAVIGATION
DEVICE
reme 816
MASS STORAGE | 822
w
MACHINE
READABLE
MEDIUM
INSTRUCT.
niy
Unntnis
MVH
SIGNAL
GENERATION
DEVICE
TE
INTERFACE
DEVICE
ER
UVVURUNANUELLE
INPUT DEVICE
W
824
AURAMAAL
- 828
978
NETWORK
W
w
FIG . 8
OUTPUT
CONTROLLER
X
US 10 ,324 ,462 B2
DRONE SWARM FOR INCREASED CARGO
may be used , such as in a feedback loop (e .g ., with a control
CAPACITY
system using a proportional- integral-derivative (PID ) con
troller or the like ) to control movement of one or more
BACKGROUND
Drones are increasingly being used to carry packages ,
such as for delivery to homes and businesses . Challenges for
package delivery often include limitations on cargo weight
drones in the networked drone system to maintain stability
or an orientation of the support component. The IMU may
communicate with a single parent drone , which may in turn
communicate with one or more child drones of the net
worked drone system , or the IMU may communicate with
due to lift capability limits of a drone. A drone based
any of the drones in the networked drone system .
package delivery is also limited in delivery distance due to 10 In an example , drones in a networked drone system may
battery life of the drone. In some circumstances, drones are
unreliable and prone to failure , which causes packages to be
lost or damaged .
BRIEF DESCRIPTION OF THE DRAWINGS
In the drawings, which are not necessarily drawn to scale,
like numerals may describe similar components in different
views. Like numerals having different letter suffixes may
include a camera, such as a camera on each drone in the
networked drone system . The camera or cameras may be
used to measure a distance between two drones in the
networked drone system . For example , neighboring drones
15 may use a camera to detect a distance between the drones
and the drones may be controlled to maintain a predeter
mined distance (e .g ., change the distance to the predeter
mined distance ). In an example , the camera may be a depth
camera . The camera or cameras may provide inter - drone
represent different instances of similar components . The 20 distance feedback to maintain equal spacing between
drawings illustrate generally, by way of example , but not by
drones.
way of limitation , various embodiments discussed in the
The networked drone system may be scaled to increase
cargo carrying capacity . The drones in the networked drone
present document.
FIG . 1 illustrates a system including networked drones for system may have redundancy , that is , the networked drone
conveying a support component in accordance with some 25 system may continue to operate normally when one ( or more
than one in some example systems) drone of the networked
embodiments .
FIG . 2 illustrates a magnetic drone attachment system in drone system fails . Drones in the networked drone system
may be replaced , such as when a drone fails or a battery of
accordance with some embodiments .
FIG . 3 illustrates a mechanical alignment drone attach
ment system in accordance with some embodiments .
the drone dies or is low . The drones may be replaced in flight
30 so as to not lose delivery time. Replacing drones may be
FIG . 4 illustrates a ring and solenoid drone attachment used to extend range of the networked drone system . Using
the networked drone system may be safer than a single
system in accordance with some embodiments .
FIG . 5 illustrates a drone base station and target map in
heavier drone with equivalent cargo capacity , such as due to
potential failure or orientation errors in the single heavier
accordance with some embodiments .
FIG . 6 illustrates a networked drone system in accordance 35 drone .
The networked drone systems described herein may have
with some embodiments.
FIG . 7 illustrates a flowchart showing a technique for a precision flight formation (e.g ., within centimeter accu
using a networked drone system to support and move a
racy ) to align magnets or mechanical connections during
support component in accordance with some embodiments . flight. Strong magnets used to connect the drones to the
FIG . 8 illustrates generally an example of a block diagram 40 support component may be located at a position on the
of a machine upon which any one or more of the techniques support component so as to not interfere with IMU magne
( e.g ., methodologies) discussed herein may perform in
accordance with some embodiments .
tometers . The drones may remain in a vertical angle of view
for a camera to determine distances between drones.
FIG . 1 illustrates a system 100 including networked
45 drones ( e . g ., 102 - 108 ) for conveying a support component
DETAILED DESCRIPTION
110 in accordance with some embodiments . The support
Systems and methods for using networked drones are component 110 may be used to carry or convey cargo 112
described herein . The systems and methods described herein
(e . g ., for delivery ). The cargo 112 may be strapped in or
may use networked drones to support and move a support
otherwise secured to the support component 110 . The system
component, such as a platform , net, box , etc . The networked 50 100 includes an IMU 118 on the support component 110 to
drones may include a parent drone and one or more child
drones . The parent dronemay be controlled remotely and the
sense orientation ( e .g ., pitch , roll, and yaw ). The IMU may
communicate the orientation and provide feedback to a
child drones may move automatically in accordance with the
parent drone 102 , or to child drones ( e . g ., 104 - 108 ). The
parent drone movement. The networked drones may keep
IMU may communicate with a drone (e . g ., 102 - 108 ) via a
the support component stable at levelor at a particular angle . 55 wireless connection , such as Bluetooth , IEEE 802. 11 (Wi
The networked drones may work together to increase capac
Fi), or a custom RF link , or via a communication wire along
ity and extend carry distance over a single drone delivery a cable (e .g ., cable 116 ) .
The support component 110 may move during transit
system .
A networked drone system may be used to increase cargo (e.g ., due to wind , pressure changes, object collisions,
carrying capacity over a single drone. Two or more drones 60 momentum , etc .). When the support component 110 is at a
used in the networked drone system may distribute a cargo
load to increase the total system carrying capacity without
pitch angle relative to a horizontal, the drones may adjust to
compensate and force the support component 110 back to a
increasing an individual drone load . In an example , the
horizontal pitch . For example, the support component 110 is
used to provide cargo orientation feedback . The feedback
upward lift from the parent drone 102 . These movements
networked drone system may use an inertial measurement at a pitch angle in FIG . 1 . The child drone 106 may move
unit (IMU ) mounted on , or attached to , a support component 65 downward to decrease upward lift from the child drone 106
such as a cargo platform , a net , a box , etc . The IMU may be
and the parent drone 102 may move upward to increase
US 10, 324 ,462 B2
may force the support component 110 back to a level pitch
angle . In an example, the cable 116 may be a rigid member,
such that a downward force may be exerted on the support
component 110 . In another example, the cable 116 may be
feedback loop that converges on stable angles for the support
component 110 and the predetermined distances from neigh
bor drones. An additional input may be a remote control of
the parent drone 102 . The remote control may cause the
loose such that it may not exert a downward force , but may 5 parent drone 102 to be perturbed . The child drones 104 and
be used to exert an upward force when pulled taught by the
parent drone 102 moving upward . In yet another example , a
108 may add the change in distance from the parent drone
102 into their respective feedback loops to maintain the
rigid support cable may be attached to the bottom of the
predetermined distance with this additional change . The
support component 110 such that a drone lifts the support distances then may be iteratively updated to additional
component 110 by applying upward force on the rigid cable 10 drones (e . g ., child drone 106 ) maintaining predetermined
from below . The cable 116 may have a different length than
distances from the child drones 104 and 108 .
other cables in the system 100 .
In an example , any of the child drones 104 - 108 may
In an example , a drone may be attached to another drone
assume the parent role . For example , when the parent drone
(e .g ., stacked ) or multiple dronesmay be attached to a single
102 is removed from the system 100 , has a low battery , or
support cable . In another example , cables may be attached to 15 fails , one of the child drones 104 - 108 may take over to
the support component 110 at an angle . In yet another
control the system 100 and become a new parent drone . The
example , the support component 110 may include multiple
new parent drone may be controlled remotely and operate as
levels connected by cables . When the support component
the previous parent drone did without interruption to the
110 experiences a yaw rotation , the drones (e . g ., 102 - 108 )
system 100 (e . g ., while in - flight).
may deviate in the horizontal plane to counter the yaw 20
In an example , a spare drone 114 may be stored on a
charging platform . The spare drone 114 may be inserted into
rotation .
In an example , a drone (e . g ., 102- 108 ) may have a camera
the system 100 in - flight. The spare drone 114 may attaches
( e. g., a depth camera, such as a high definition camera , an to the support component 110 . Examples for attaching the
infrared camera , an infrared laser projector, or a combination
s pare drone 114 to the support component 110 are described
of two or all three of these cameras, or another accurate 25 in further detail below in FIGS . 2 - 4 .
distance/ angle measuring sensor, such as a LIDAR (light
In an example , the spare drone 114 may be added to the
radar ) sensor ). The camera may be pointed at a neighbor system 100 in response to a failure of one of the drones
drone (e . g ., a camera on the child drone 106 may be pointing
102 - 108 . When a drone fails , the spare drone 114 may be
at child drone 104 , child drone 108 , or both ). A drone' s PID
added to the system 100 and the remaining functional drones
feedback loop may maintain a distance to a neighbor drone . 30 may be shifted for efficient control of the support component
For example , the child drone 106 may maintain a first
110 . If the drone that fails cannot move , it may be dead
distance from the child drone 104 and a second distance
weight and additional spare drones may be added to the
from the child drone 108 ( and the first and second distances
may be the same). The child drones 104 and 108 may keep
system to compensate for the weight. If the drone that fails
still moves, it may detach or become detached from the
drone 102 . In an example , one of the drones (e . g ., the parent
drone 102 ) may be used to control the system ( e . g ., receive
a remote control or predetermined control to move in a
closer together on one side of the support component 110
( e . g ., compress the distances between the drones ) to allow
the spare drone 114 to enter and attach to the support
specified distances from the child drone 106 and the parent 35 support component 110 . The drones 102 - 108 may move
component 110 . Once the spare drone 114 is attached to the
specified direction ) and may not have a camera .
The drones in the system 100 may be controlled by 40 support component 110 , the failed drone may be removed
directing single drone (e . g ., the parent drone 102 ). The other
from the support component 110 ( e .g ., the drones 102 - 108
drones (e .g., the child drones 104 - 108 ) may maintain dis
tances ( e.g ., from the parent drone 102 or other neighbor
and 114 may shift to allow the failed drone to detach ). After
the failed drone detaches, the remaining drones, including
drones ), while also satisfying the IMU stability constraint
the spare drone 114 may be rearranged for efficient control
control. Although four drones are shown in FIG . 1 , any 45 of the support component 110 . If the failed drone was the
number of drones may be used greater than three for simple
stability control. In an example , two drones may be used
with advanced stability controls or additional cables . The
greater the number of drones used in the system 100 , the
parent drone 102 , a new parent drone may be selected , either
from the child drones 104 - 108 or the spare drone 114 .
I n an example, the spare drone 114 may be added to the
system 100 in response to a low battery of one of the drones
more redundancy and cargo carrying ability of the system 50 102 - 108 . When a drone has a low battery , the spare drone
100 , at the cost of increased overhead in number of drones .
A limit on the number of drones may be determined using
114 may be sent to be added to the system 100 . The
remaining drones may be shifted for efficient control of the
flight clearance for the drones ( e . g ., the propellers or other
support component 110 . The low battery drone may detach
components of the drones may not overlap ) and the support
from the support component 110 before the spare drone 114
component 110 physical properties ( e . g ., circumference or 55 is added if there is sufficient cargo carrying capacity redun
dancy among the remaining drones or after the spare drone
area ).
In an example , a drone in the system 100 may be
114 is added if not (or for the sake of redundancy ). The
controlled in response to movement by the support compo -
remaining drones ( e . g ., 102 - 108 ) may move closer together
nent 110 (e .g., changes to an angle ), sensed by the IMU 118 ,
on one side of the support component 110 (e .g., compress
which may send information regarding the movement or 60 the distances between the drones ) to allow the spare drone
angle change to one or more of the drones ( 102 - 108 ) . A
114 to enter and attach to the support component 110 . After
drone may add a correction term to its drone height PID
the low battery drone detaches, the remaining drones ,
component 110 . The drone may detect a distance (e . g ., using
control of the support component 110 . If the low battery
feedback loop for the roll , pitch , or yaw of the support
including the spare drone 114 may be rearranged for efficient
a camera or sensor) from the drone to another drone and 65 drone was the parent drone 102 , a new parent drone may be
maintain that distance while correcting the support compo -
nent 110 angle . For example , this process may be an iterative
selected , either from the child drones 104 - 108 or the spare
drone 114 . If more than one drone has a low battery, the
US 10 ,324 ,462 B2
process may be iterated to introduce new spare drones. In
another example, the spare drone 114 may be added to the
system 100 as a redundancy . The drone with the low battery
may lands on a charging platform (e .g., the charging plat
data from the IMU to the drone. In yet another example , the
drone may communicate with the IMU using the power or
balance connectors 214 .
FIG . 3 illustrates a mechanical alignment drone attach
5 ment system 300 in accordance with some embodiments .
form vacated by the spare drone 114).
In an example , the parent drone 102 may be controlled
The mechanical alignment drone attachment system 300
include one or more alignment cones 306 to attach a
remotely by sending a command to the IMU , which may may
platform connection component 302 of a drone to a support
communicate locally with the parent drone 102 . In another component
304 . The alignment cones 306 may be used to
example . The IMU may communicate with one of the drones 10 align the platform
connection component 302 with align
102 - 108 at a given time as a parent drone (e .g., the IMU may
select a parent drone with each communication or may select
a drone as the parent drone until that drone is replaced in the
system 100 ). In another example , the parent drone 102 may
ment openings 308 in the support component 304 . In an
example , a solenoid or a pin may be used to attach the
platform connection component 302 to the support compo
nent 304 . A plurality of alignment openings 308 may be
relay information to the ( e . g ., a desired tilt angle for carrying 15 arranged on the support component 304 such that the
a particular package ).
Control of the parent drone 102 for guiding the system
100 to a navigation point ( e . g., to pick up or deliver a
package, such as the cargo 112 ) may use a remote control
platform connection component 302 may be placed at dif
ferent locations on the support component 304 .
FIG . 4 illustrates a ring and solenoid drone attachment
system 400 in accordance with some embodiments . The ring
system . The remote control system may be controlled by a 20 and solenoid drone attachment system 400 includes a sup
user ( e .g ., to input coordinates or control the parent drone
102 in real time). In an example , controls for the parent
drone 102 may be preset, (e . g ., map or GPS coordinates may
port component ring 408 and a drone cable attachment ring
404 . The drone cable attachment ring 404 may be attached
to a cable 402 , which may connect to a drone . The support
component ring 408 may include a solenoid control latch
be entered , a flight plan may be preset, or the like).
FIG . 2 illustrates a magnetic drone attachment system 200 25 406 . In an example , the solenoid control latch 406 may be
in accordance with some embodiments . The magnetic drone
controlled to open to allow the drone cable attachment ring
controlled to reverse (or cancel) the magnetic field to repel
moving the drone around the support component ring 408 .
to enter or exit the support component ring 408 , thereby
attachment system 200 may use a permanent magnet (not 404
attaching
the drone from a support platform
shown ) on the bottom of a platform connection component respectivelyor. detaching
The support component ring 408 may , in an
206 to connect the platform connection component 206 with 30 example
include a plurality of solenoid control latches to
a support component 210 (e .g., a platform ). The permanent allow the, drone
cable attachment ring 404 to enter or exit the
magnet on the bottom of the platform connection component support component
ring 408 at different locations.
206 may magnetically couple with the support component
The drone cable attachment ring 404 may slide around the
210 using electrically reversible magnetic zones 212 . The support component ring 408 after the solenoid control latch
electrically reversible magnetic zones 212 may be electri 35 406
is closed . In an example , the drone cable attachment ring
cally controlled to create a magnetic field to magnetically 404 may
a magnet such that the drone cable attachment
couple with the permanent magnet on the bottom of the ring 404 be
may be configured to not physically touch the
platform connection component 206 and may be electrically
support component ring 408 . This feature may be used when
(or release ) the permanent magnet on the bottom of the 40 In an example, the solenoid control latch 406 may be
platform connection component 206 . In an example , a cable
configured such that it avoids interference with a magne
202 connecting a drone to the platform connection compo nent 206 may be physically coupled to the platform con -
tometer on the drone or on the IMU .
FIG . 5 illustrates a drone base station and target map 500
nection component 206 . In another example, an end (e .g .,
in accordance with some embodiments. The map 500
electrically reversible magnet 204 for connecting with a
permanentmagnet 208 on the top of the platform connection
located at positions around a distribution center 502 . For
example , the base stations may be located in circles around
component 206 . In this example , the drone may change to an
adjacent platform connection component 206 if the initial
the distribution center 502, such as at a first radius 512 , a
second radius 514, and a third radius 516 . The base stations
distal from the drone ) of the cable 202 may include an 45 includes a plurality of base stations (e . g ., 506 , 508 , and 518 )
platform connection component has a faulty connection , or 50 shown in FIG . 5 are meant as examples, and other arrange
to move in response to a rearrangement of the drones in the
system . The electrically reversible magnetic zones 212 or
magnet 204 may be electromagnets arranged to momentarily
ments may be used (e . g ., a grid , locations along busy or
predicted delivery routes , based on available resources, or
the like ). Base stations may be spaced closer in dense
cancel the magnetic field of one of the permanent magnets
population areas, in close proximity to the distribution
for release of the platform connection component 206 , 55 center 502 , or the like . Arrangement of base stations may be
support component 210 , or the cable 202 .
Using magnets to attach the drone to the support compo -
nent 210 may allow low friction sliding along the perimeter
customized based on delivery routes (e.g., using optimiza
tion techniques such as Euclidean path or traveling salesman
route minimization techniques).
of the support component 210 to enable drones to reconfig
The base stations may include charging platforms for
ure as the number of drones involved changes. For example , 60 recharging a drone. For example, when a drone exits a
the platform connection component 206 may be repositioned
networked drone system due to a low battery , the drone may
at different points or continuously around the support com -
return to a charging platform at a base station to recharge. A
ponent 210 using the electrically reversible magnetic zones replacement drone may leave the charging platform or
212 . The support component 210 may include power or another charging platform ( e .g ., at another that or base
balance connectors 214 to supply data or power to or from 65 station ) to join a networked drone system . In an example ,
the drone and the support component 210 . In another spare drones may be stationed on charging platform near a
example , the power or balance connectors 214 may supply
drone battery travel limit . For example , the base station 506
US 10 ,324 , 462 B2
may be located at a distance from the distribution center 502
In an example, drones in the plurality of drones 602 may
such that the distance traveled by drones in a networked reconfigure their orientation with respect to each other or the
drone system would cause the drones to have a low battery . support platform 610 , for example , in response to the
In an example, a networked drone system may include a replacement drone 608 being indicated as joining the plu
plurality of drones including a parent drone and one or more 5 rality of drones 602, in response to one of the plurality of
child drones . The networked drone system may start at the drones 602 being indicated as leaving the plurality of drones
distribution center 502 and carry cargo from to a delivery
602 , or in response to a failure or dead battery of a drone of
target 508. The delivery target 508 may be at a location such the plurality of drones 602. When a drone leaves or the
as a home or warehouse for delivery of the cargo . The
networked drone system may take a path to the delivery
target 508 that passes near ( e .g ., within a mile , within a
battery limit distance , or the like ) base stations , such as the
replacement drone 608 enters the plurality of drones 602 ,
drones in the plurality of drones may be rearranged again .
When the parent drone 604 leaves the plurality of drones
602 , one of the at least one child drones 606 may take over
base station 506 . The networked drone system may take a
as the parent drone 604 . When a replacement drone 608 is
direct path 504 from the distribution center 502 to the base 16 added to the plurality of drones 602 and the parent drone 604
station 506 . When the networked drone system approaches
leaves , the replacement drone 608 or one of the at least one
or passes the base station 506 , replacement drones may be
child drones 606 may take over as a parent drone. The new
added to the networked drone system and low battery drones
parent drone may be controllable by the remote control
may be removed . The networked drone station may proceed
device .
to the delivery target 508 including taking a most directpath 20 In an example , the IMU 612 may transmit the support
that still passes over or near base stations. Due to the cargo platform balance information to all drones in the plurality of
weight, the direct path may be used to minimize issues with
battery life . A return trip for the networked drone system
drones 602. In another example , the IMU 612 may transmit
the support platform balance information to only the parent
may include a less direct path , such as starting along path
drone 604 , the parent drone 604 to communicate the support
510 . The path for the return trip may be used to organize 25 platform balance information to remaining drones in the
drones at particular base stations.
In another example , a networked drone system may take
cargo to a second delivery target 520 . After delivery, the
networked drone system may proceed , in an example , to a
plurality of drones 602 ( e . g ., the at least one child drone
606 ). In an example , the IMU 612 may transmit the support
platform balance information wirelessly to the parent drone
602 or the at least one child drone 606 . In another example ,
base station 518 that is farther away from the second 30 the IMU 612 may transmit the support platform balance
delivery target 520 than the distribution center 502 . The base
station 518 may be a closest base station to the second
delivery target 520 so that the networked drone system may
replace drones with low battery . In an example , the net
information along a wire within a support cable to the parent
drone 604, the support cable connecting the support plat
form 610 to a drone receiving the transmission . The support
platform balance information may include a yaw , a pitch , or
worked drone system may pick up cargo to return to the 35 a roll of the support platform 610 . The plurality of drones
distribution center 502 ( e. g ., for cargo return ) or may deliver
to a third delivery target.
FIG . 6 illustrates a networked drone system 600 in
602 may compensate for changes in the yaw , the pitch , or the
accordance with some embodiments. The networked drone
plurality of drones 602. The control system may include a
parent drone 604 and at least one child drone 606 . The
networked drone system 600 may include a replacement
drone 608 . The plurality of drones 602 support and move a
602.
In an example , the at least one child drone 606 includes
at least two child drones, the at least two child drones and
roll of the support platform 610 using a control system , the
control system to separately control each drone in the
system 600 includes a plurality of drones 602 including a 40 local control system for each drone in the plurality of drones
support platform 610 , which includes an IMU 612 , and may
the parent drone 604 configured to dynamically support the
support cargo 614 , such as a package for remote delivery . 45 support platform 610 . In an example , the at least one child
In an example , the IMU 612 may capture support platform
balance information related to the support platform 610 . The
IMU 612 may transmit the support platform balance infor-
drone 606 is to maintain a specified distance from the parent
drone. The at least one child drone 606 may maintain a
specified distance from another child drone .
mation , for example to the parent drone 604 , the child drone
The parent drone 604 may receive an indication of a low
606 , any other drone in the plurality of drones 602 , the 50 battery in a drone in the networked drone system 600 , the
replacement drone 608 , or a combination of drones . The
parent drone 604 may be controllable by a remote control
indication including an identification of the replacement
drone 608 to replace the drone with the low battery in the
device . The remote control device may be used to send a
networked drone system 600 . The parent drone 604 may
movement command to the parent drone 604 , causing the
send a reconfiguration command to the at least one child
parent drone 604 to move while maintaining support of the 55 drone 606 to incorporate the replacement drone 608 in the
support platform 610 .
The replacement drone 608 may join the plurality of
drones 602, such as during flight, and the replacement drone
608 may then be used to support and move the support
networked drone system 600 . The reconfiguration command
may include a first operation to configure drones the net
worked drone system 600 in a first arrangement including
the drone with the low battery and the replacement drone
platform 610 . In an example , the replacement drone 608 60 608 and a second operation to configure drones in the
may join the plurality of drones 602 when the parent drone
604 or one of the at least one child drone 606 has a low
networked drone system 600 in a second arrangement
including the replacement drone 608 without the drone with
battery . In another example, the replacement drone 608 may the low battery, after the drone with the low battery is
join the plurality of drones 602 for redundancy. One of the
removed from the networked drone system 600 . The drone
at least one child drones 606 may leave the plurality of 65 with the low battery may be configured to return to a
drones 602 in response to the replacement drone 608 joining recharging station after being removed from the networked
drone system 600.
the plurality of drones 602 .
US 10 , 324 ,462 B2
10
FIG . 7 illustrates a flowchart showing a technique 700 for
form in accordance with some embodiments. In alternative
using a networked drone system to support and move a
support component in accordance with some embodiments.
The technique 700 includes an operation 702 to receive
embodiments, the machine 800 may operate as a standalone
machines . In a networked deployment, themachine 800 may
inertial measurement unit (IMU ) on a support component.
The support component balance information may be
received at a parent drone, and the IMU may be located on
a support component supported by the parent drone . Receiv -
or both in server -client network environments . In an
example , the machine 800 may act as a peer machine in
peer -to -peer (P2P ) (or other distributed ) network environ
ment. The machine 800 may be a personal computer ( PC ),
device or may be connected (e . g ., networked) to other
support component balance information captured by an 5 operate in the capacity of a server machine, a clientmachine,
ing the support component balance information may include 10 a tablet PC , a drone computing device , a control system , an
receiving the support component balance information wire lessly from the IMU or along a wire within a support cable
IMU , a mobile telephone , a web appliance, a network router,
switch or bridge, or any machine capable of executing
connecting the support component to the parent drone . The
instructions ( sequential or otherwise ) that specify actions to
support component balance information may include a yaw ,
be taken by that machine . Further, while only a single
a pitch , or a roll of the support component. The support 15 machine is illustrated , the term “ machine” shall also be
component may include a net, a platform , a box, etc ., taken to include any collection ofmachines that individually
configured to carry cargo , such as a package, for example for or jointly execute a set (or multiple sets ) of instructions to
remote delivery .
perform any one or more of the methodologies discussed
The technique 700 includes an operation 704 to adjust herein , such as cloud computing , software as a service
movement of a parent drone in a networked drone system 20 (SaaS ) , other computer cluster configurations.
using the support component balance information . The
Examples , as described herein, may include, or may
movement of the parent drone may be adjusted using a
control system . The parent drone may compensate for
operate on , logic or a number of components , modules , or
mechanisms. Modules are tangible entities hardware )
changes in the yaw , the pitch , or the roll of the support
capable of performing specified operations when operating.
component using the control system ( e . g ., a feedback control 25 A module includes hardware . In an example , the hardware
system to incorporate changes in the angles ). The technique
may be specifically configured to carry out a specific opera
700 includes an optional operation 706 to receive a move ment command from a remote control1 Line
device .
tion (e . g ., hardwired ). In an example , the hardware may
include configurable execution units ( e . g ., transistors , cir
The technique 700 includes an optional operation 708 to
cuits , etc . and a computer readable medium containing
move the support component according to the movement 30 instructions, where the instructions configure the execution
command . The support component may be moved using the
units to carry out a specific operation when in operation . The
parent drone and at least one child drone. The at least one
child drone may move in response to movement of the
configuring may occur under the direction of the executions
units or a loading mechanism . Accordingly , the execution
parent drone or in response to receiving an indication to
units are communicatively coupled to the computer readable
move from the parent drone . The at least one child drone 35 medium when the device is operating . In this example , the
may be configured to maintain a specified distance from the
parent drone or from another child drone . The at least one
child drone may include at least two child drones.
The technique 700 may include an operation 710 to
execution units may be a member ofmore than one module .
For example , under operation , the execution units may be
configured by a first set of instructions to implement a first
module at one point in time and reconfigured by a second set
receive an indication of a low battery in a drone in the 40 of instructions to implement a second module .
networked drone system . The indication may be received at
Machine (e.g ., computer system ) 800 may include a
the parent drone and may include an identification of a
replacement drone to replace the drone with the low battery
hardware processor 802 ( e .g ., a central processing unit
(CPU ) , a graphics processing unit (GPU ), a hardware pro
in the networked drone system . In an example, the drone
cessor core, or any combination thereof), a main memory
with the low battery may be the parent drone and the 45 804 and a static memory 806 , some or all of which may
replacement drone may become a replacement parent drone
communicate with each other via an interlink (e . g ., bus ) 808 .
after the parent drone is removed from the networked drone
system . In another example , the drone with the low battery
The machine 800 may further include a display unit 810 , an
alphanumeric input device 812 ( e . g ., a keyboard ), and a user
may be a child drone , and the replacement drone may interface (UI) navigation device 814 (e . g ., a mouse ). In an
50 example , the display unit 810 , alphanumeric input device
become a replacement child drone .
The technique 700 may include an operation 712 to send
812 and UI navigation device 814 may be a touch screen
a reconfiguration command to at least one child drone to
incorporate the replacement drone in the networked drone
system . In an example , the reconfiguration command
display . The machine 800 may additionally include a storage
(e. g ., a speaker ), a network interface device 820, and one or
device ( e . g ., drive unit ) 816 , a signal generation device 818
includes a first operation to configure drones the networked 55 more sensors 821 , such as a global positioning system (GPS )
drone system in a first arrangement including the drone with
sensor, compass, accelerometer, or other sensor. The
the low battery and the replacement drone and a second machine 800 may include an output controller 828 , such as
operation to configure drones in the networked drone system
a serial ( e. g ., universal serial bus (USB ), parallel, or other
in a second arrangement including the replacement drone wired or wireless ( e .g ., infrared (IR ), near field communi
without the drone with the low battery, after the drone with 60 ?ation (NFC ) , etc . ) connection to communicate or control
the low battery is removed from the networked drone
one or more peripheral devices ( e .g ., a printer, card reader,
system . The drone with the low battery may return to a
etc .).
recharging station after being removed from the networked
The storage device 816 may include a machine readable
medium 822 that is non -transitory on which is stored one or
drone system .
FIG . 8 illustrates generally an example of a block diagram 65 more sets of data structures or instructions 824 (e .g., soft
ware ) embodying or utilized by any one or more of the
techniques (e .g ., methodologies ) discussed herein may per - techniques or functions described herein . The instructions
of a machine 800 upon which any one or more of the
US 10 ,324 , 462 B2
11
12
824 may also reside , completely or at least partially , within
balance information ; a plurality of drones to support and
the main memory 804 , within static memory 806 , or within
the hardware processor 802 during execution thereof by the
move the support platform , the plurality of drones including:
a parent drone controllable by a remote control device , the
parent drone to receive the support platform balance infor
memory 806 , or the storage device 816 may constitute
replacement drone to join the plurality of drones during
flight, the replacement drone to support and move the
machine 800 . In an example , one or any combination of the
hardware processor 802, the main memory 804 , the static 5 mation from the IMU ; and at least one child drone; and a
machine readable media .
While the machine readable medium 822 is illustrated as
support platform .
a single medium , the term “ machine readable medium ” may
In Example 2 , the subject matter of Example 1 optionally
include a single medium or multiple media ( e . g ., a central- 10 includes wherein the replacement drone is to join when the
ized or distributed database , or associated caches and serv at least one child drone has a low battery .
ers ) figured to store the one or more instructions 824 .
The term “machine readable medium ” may include any
medium that is capable of storing , encoding , or carrying
In Example 3 , the subject matter of Example 2 optionally
includes wherein the at least one child drone is to leave the
plurality of drones in response to the replacement drone
instructions for execution by the machine 800 and that cause 15 joining the plurality of drones.
the machine 800 to perform any one or more of the tech In Example 4 , the subject matter of any one or more of
niques of the present disclosure , or that is capable of storing, Examples 1 - 3 optionally include wherein an orientation of
encoding or carrying data structures used by or associated
the plurality of drones is to be reconfigured with respect to
with such instructions . Non -limiting machine readable
the support platform in response to the replacement drone
medium examples may include solid -state memories, and 20 joining the plurality of drones .
optical and magnetic media . Specific examples ofmachine
In Example 5 , the subject matter of any one or more of
readable media may include: non -volatile memory , such as Examples 1 -4 optionally include wherein in response to the
semiconductor memory devices (e.g ., Electrically Program - replacement drone joining the plurality of drones, the parent
mable Read-Only Memory (EPROM ), Electrically Erasable
drone is to leave the plurality of drones , and in response to
Programmable Read -Only Memory (EEPROM )) and flash 25 the parent drone leaving the plurality of drones, the replace
memory devices ;magnetic disks, such as internal hard disks
and removable disks ; magneto -optical disks; and CD -ROM
and DVD -ROM disks.
ment drone or the at least one child drone to be controllable
by the remote control device .
In Example 6 , the subject matter of any one or more of
The instructions 824 may further be transmitted or
Examples 1 -5 optionally include wherein the IMU is to
lizing any one of a number of transfer protocols (e .g ., frame
relay, internet protocol (IP ), transmission control protocol
( TCP), user datagram protocol (UDP ), hypertext transfer
In Example 7 , the subject matter of any one or more of
transmit the support platform balance information to only
network (WAN ), a packet data network ( e.g ., the Internet),
the plurality of drones .
received over a communications network 826 using a trans - 30 transmit the support platform balance information to all
mission medium via the network interface device 820 uti- drones in the plurality of drones.
Examples 1 -6 optionally include wherein the IMU is to
protocol (HTTP ), etc . Example communication networks 35 the parent drone, the parent drone to communicate the
may include a local area network (LAN ), a wide area support platform balance information to remaining drones in
mobile telephone networks (e . g ., cellular networks ), Plain
Old Telephone (POTS ) networks, and wireless data net -
In Example 8 , the subject matter of any one or more of
Examples 1- 7 optionally include wherein the IMU is to
works (e .g ., institute of Electrical and Electronics Engineers 40 transmit the support platform balance information wirelessly
( IEEE ) 802. 11 family of standards known as Wi- Fi® , IEEE
802. 16 family of standards known as WiMax® ), IEEE
to the parent drone.
In Example 9 , the subject matter of any one or more of
802 . 15 .4 family of standards, peer -to -peer (P2P ) networks,
among others. In an example, the network interface device
Examples 1- 8 optionally include wherein the IMU is to
transmit the support platform balance information along a
to the communications network 826 . In an example, the
Examples 1 - 9 optionally include wherein the support plat
820 may include one or more physical jacks ( e. g ., Ethernet, 45 wire within a support cable to the parent drone .
coaxial, or phone jacks) or one or more antennas to connect
In Example 10 , the subject matter of any one or more of
network interface device 820 may include a plurality of
antennas to wirelessly communicate using at least one of
single - input multiple- output (SIMO ), multiple-input mul- 50
form balance information includes a yaw , a pitch , and a roll
of the support platform .
In Example 11, the subject matter of Example 10 option
tiple - output (MIMO ), or multiple -input single - output
ally includes wherein the plurality of drones are to compen
(MISO ) techniques . The term “transmission medium ” shall
sate for changes in the yaw , the pitch , or the roll of the
be taken to include any intangiblemedium that is capable of
support platform using a control system , the control system
storing, encoding or carrying instructions for execution by to separately control each drone in the plurality of drones .
the machine 800 , and includes digital or analog communi- 55 In Example 12 , the subject matter of any one or more of
cations signals or other intangible medium to facilitate
Examples 1 - 11 optionally include wherein the support plat
communication of such software .
form is to carry a package for remote delivery .
In Example 13 , the subject matter of any one or more of
Examples 1 - 12 optionally include wherein the at least one
VARIOUS NOTES & EXAMPLES
60 child drone includes at least two child drones, and the at least
Each of these non - limiting examples may stand on its two child drones and the parent drone are to dynamically
own, or may be combined in various permutations or com binations with one or more of the other examples .
Example 1 is a networked drone system , the networked
support the support platform .
In Example 14 , the subject matter of any one or more of
Examples 1 - 13 optionally include wherein the parent drone
drone system comprising : a support platform including: an 65 is to receive a movement command from the remote control
inertial measurement unit (IMU ) to : capture support plat-
device causing the parent drone to move while maintaining
form balance information ; and transmit the support platform
support of the support platform .
US 10 ,324 , 462 B2
13
14
In Example 15 , the subject matter of any one or more of
Examples 1 -14 optionally include wherein the at least one
In Example 25 , the subjectmatter of any one or more of
Examples 16 - 24 optionally include wherein the support
child drone is to maintain a specified distance from the
component is a platform to carry a package for remote
delivery .
Example 16 is a method for using a networked drone 5 In Example 26 , the subject matter of any one or more of
parent drone .
system to support and move a support component, the
method comprising : receiving, at a parent drone, support
Examples 16 - 25 optionally include wherein the at least one
child drone includes at least two child drones, and the at least
component balance information captured by an inertial two child drones and the parent drone are to dynamically
measurement unit on the support component supported by
support the support component.
the parent drone; adjusting movement of the parent drone 10 Example 27 is at least one machine- readable medium
according to a control system using the support component including instructions for operation of a computing system ,
balance information ; receiving, at the parent drone , a move - which when executed by a machine , cause the machine to
ment command from a remote control device ; moving the
perform operations of any of the methods of Examples
support component according to the movement command
16 - 26 .
using the parent drone, wherein at least one child drone is to 15 Example 28 is an apparatus comprising means for per
support the support component and is to move in response
forming any of the methods of Examples 16 - 26 .
to movement of the parent drone; receiving, at the parent
Example 29 is at least one machine -readable medium
drone , an indication of a low battery in an indicated drone including instructions for using a drone in a networked
in the networked drone system , the indication including an drone system to support and move a support component,
identification of a replacement drone to replace the indicated 20 which when executed by the drone, cause the drone to :
drone with the low battery in the networked drone system ; receive support component balance information captured by
and sending a reconfiguration command to the at least one
child drone to incorporate the replacement drone in the
an inertial measurement unit on the support component
supported by the drone ; adjust movement of the drone
according to a control system using the support component
In Example 17 , the subject matter of Example 16 option - 25 balance information ; receive a movement command from a
networked drone system .
ally includes wherein the reconfiguration command includes
a first operation to configure drones the networked drone
system in a first arrangement including the indicated drone
remote control device ; move the support component accord
ing to the movement command using the drone , wherein at
least one child drone is to support the support component
with the low battery and the replacement drone and a second
and is to move in response to movement of the drone ;
operation to configure drones in the networked drone system 30 receive an indication of a low battery in an indicated drone
in a second arrangement including the replacement drone
in the networked drone system , the indication including an
without the indicated drone with the low battery , after the
identification of a replacement drone to replace the indicated
indicated drone with the low battery is removed from the
drone with the low battery in the networked drone system ;
networked drone system .
and send a reconfiguration command to the at least one child
In Example 18, the subject matter of any one or more of 35 drone to incorporate the replacement drone in the networked
Examples 16 - 17 optionally include wherein the indicated
drone system .
replacement drone is to become a replacement parent drone
ally includes wherein the reconfiguration command includes
drone with the low battery is the parent drone and the
after the parent drone is removed from the networked drone
system .
In Example 19 , the subject matter of any one or more of
Examples 16 - 18 optionally include wherein the indicated
In Example 30 , the subject matter of Example 29 option
a first operation to configure drones the networked drone
40 system in a first arrangement including the indicated drone
with the low battery and the replacement drone and a second
operation to configure drones in the networked drone system
drone with the low battery is to return to a recharging station
in a second arrangement including the replacement drone
after being removed from the networked drone system .
without the indicated drone with the low battery, after the
In Example 20 , the subject matter of any one or more of 45 indicated drone with the low battery is removed from the
Examples 16 - 19 optionally include wherein the at least one
child drone is to maintain a specified distance from the
networked drone system .
In Example 31, the subject matter of any one or more of
parent drone.
Examples 29 - 30 optionally include wherein the indicated
In Example 21, the subject matter of any one or more of
drone with the low battery is the parent drone and the
Examples 16 - 20 optionally include wherein receiving the 50 replacement drone is to become a replacement parent drone
support component balance information includes receiving after the parent drone is removed from the networked drone
the support component balance information wirelessly from
system .
In Example 32 , the subject matter of any one or more of
the inertial measurement unit .
In Example 22 , the subject matter of any one or more of Examples 29- 31 optionally include wherein the indicated
Examples 16 - 21 optionally include wherein receiving the 55 drone with the low battery is to return to a recharging station
support component balance information includes receiving after being removed from the networked drone system .
the support component balance information along a wire
In Example 33 , the subject matter of any one or more of
within a support cable connecting the support component to
the parent drone.
Examples 29 - 32 optionally include wherein the at least one
child drone is to maintain a specified distance from the
In Example 23 , the subject matter of any one or more of 60 parent drone .
Examples 16 - 22 optionally include wherein the support
component balance information includes a yaw , a pitch , and
a roll of the support component.
In Example 24 , the subjectmatter of Example 23 option
In Example 34, the subject matter of any one or more of
Examples 29 -33 optionally include wherein to receive the
support component balance information the parent drone is
to receive the support component balance information wire
ally includes wherein the parent drone is to compensate for 65 lessly from the inertialmeasurement unit.
changes in the yaw , the pitch , or the roll of the support
In Example 35 , the subject matter of any one or more of
component using a control system .
Examples 29 - 34 optionally include wherein to receive the
US 10, 324 ,462 B2
15
support component balance information , the parent drone is
to receive the support component balance information along
a wire within a support cable connecting the support com -
16
receiving the support component balance information
include means for receiving the support componentbalance
information wirelessly from the inertial measurement unit.
ponent to the parent drone.
In Example 46 , the subjectmatter of any one or more of
In Example 36 , the subject matter of any one or more of 5 Examples 40 -45 optionally include wherein the means for
Examples 29 -35 optionally include wherein the support receiving the support component balance information
component balance information includes a yaw , a pitch , and include means for receiving the support component balance
a roll of the support component.
information along a wire within a support cable connecting
In Example 37 , the subject matter of Example 36 option the
component to the parent drone .
ally includes wherein the parent drone is to compensate for 10 Insupport
Example
47, the subjectmatter of any one or more of
changes in the yaw , the pitch , or the roll of the support
Examples
40
46
optionally include wherein the support
component using a control system .
component
balance
includes a yaw , a pitch , and
In Example 38 , the subject matter of any one or more of a roll of the supportinformation
component
.
Examples 29 - 37 optionally include wherein the support
component is to carry a package for remote delivery .
15 In Example 48 , the subject matter of Example 47 option
In Example 39 , the subject matter of any one or more of
Examples 29 - 38 optionally include wherein the at least one
child drone includes at least two child drones , and the at least
two child drones and the parent drone are to dynamically
20
support the support component.
Example 40 is an apparatus for using a networked drone
system to support and move a support component, the
ally includes wherein the parent drone is to compensate for
changes in the yaw , the pitch , or the roll of the support
component using a control system .
In Example 49, the subject matter of any one or more of
Examples 40 -48 optionally include wherein the support
component is to carry a package for remote delivery.
In Example 50 , the subject matter of any one or more of
apparatus comprising: means for receiving, at a parent drone Examples 40 -49 optionally include wherein the at least one
support component balance information captured by an
child drone includes at least two child drones, and the at least
inertial measurement unit on the support component sup - 25 two child drones and the parent drone are to dynamically
ported by the parent drone; means for adjusting movement support the support component .
of the parent drone according to a control system using the
Example 51 is a system for using a networked drone
support component balance information , means for receiv system to support and move a support component, the
ing , at the parent drone, a movement command from a
system comprising a parent drone to : receive support com
remote control device; means for moving the support com - 30 ponent balance information captured by an inertial measure
ponent according to the movement command using the ment unit on the support component supported by the parent
parent drone , wherein at least one child drone is to support drone; adjust movement of the parent drone according to a
the support component and is to move in response to
movement of the parent drone; means for receiving , at the
control system using the support component balance infor
system ; and means for sending a reconfiguration command
to move in response to movement of the parent drone;
ally includes wherein the reconfiguration command includes
a first operation to configure drones the networked drone
drone with the low battery in the networked drone system ;
and send a reconfiguration command to the at least one child
terv in an indicated 35 mation
; receive a movement command from a remote con
parent drone , an indication of a low battery
mal device
trol
; move the support component according to the
drone in the networked drone system , the indication
includ
replace the
ing an identification of a replacement drone toto replace
the movement command using the parent drone, wherein at least
indicated drone with the low battery in the networked drone one child drone is to support the support component and is
to the at least one child drone to incorporate the replacement 40 receive an indication of a low battery in an indicated drone
in the networked drone system , the indication including an
drone in the networked drone system .
In Example 41, the subject matter of Example 40 option
identification of a replacement drone to replace the indicated
system in a first arrangement including the indicated drone 45 drone to incorporate the replacement drone in the networked
with the low battery and the replacement drone and a second
operation to configure drones in the networked drone system
drone system .
In Example 52, the subject matter of Example 51 option
in a second arrangement including the replacement drone
ally includes wherein the reconfiguration command includes
without the indicated drone with the low battery , after the
a first operation to configure drones the networked drone
indicated drone with the low battery is removed from the 50 system in a first arrangement including the indicated drone
networked drone system .
In Example 42, the subject matter of any one or more of
Examples 40 -41 optionally include wherein the indicated
drone with the low battery is the parent drone and the
with the low battery and the replacement drone and a second
operation to configure drones in the networked drone system
in a second arrangement including the replacement drone
without the indicated drone with the low battery, after the
replacement drone is to become a replacement parent drone 55 indicated drone with the low battery is removed from the
after the parent drone is removed from the networked drone
system .
networked drone system .
In Example 43, the subject matter of any one or more of
In Example 53, the subjectmatter of any one or more of
Examples 51 - 52 optionally include wherein the indicated
In Example 44 , the subject matter of any one or more of
Examples 40 -43 optionally include wherein the at least one
system .
In Example 54 , the subject matter of any one or more of
Examples 40 -42 optionally include wherein the indicated
drone with the low battery is the parent drone and the
drone with the low battery is to return to a recharging station 60 replacement drone is to become a replacement parent drone
after being removed from the networked drone system .
after the parent drone is removed from the networked drone
child drone is to maintain a specified distance from the
Examples 51- 53 optionally include wherein the indicated
65 drone with the low battery is further to return to a recharging
parent drone .
In Example 45 , the subject matter of any one or more of
station after being removed from the networked drone
Examples 40-44 optionally include wherein the means for system .
US 10, 324 ,462 B2
18
17
In Example 55 , the subject matter of any one or more of
2 . The networked drone system of claim 1 , wherein the
Examples 51- 54 optionally include wherein the at least one
child drone is to maintain a specified distance from the
replacement drone is configured to join when the at least one
child drone has a low battery .
parent drone.
3 . The networked drone system of claim 2, wherein the at
In Example 56 , the subject matter of any one or more of 5 least one child drone is configured to leave the plurality of
Examples 51- 55 optionally include wherein to receive the
drones in response to the replacement drone joining the
support component balance information , the parent drone is
to receive the support component balance information wire
plurality of drones .
4 . The networked drone system of claim 1 , wherein an
lessly from the inertial measurement unit .
of the plurality of drones is reconfigurable with
In Example 57 , the subject matter of any one or more of 10 orientation
respect to the support platform in response to the replace
Examples 51- 56 optionally include wherein to receive the ment
drone joining the plurality of drones .
support component balance information , the parent drone is
5 . The networked drone system of claim 1, wherein in
to the replacement drone joining the plurality of
a wire within a support cable connecting the support com response
drones , the parent drone is configured to leave the plurality
ponent to the parent drone .
In Example 58 , the subject matter of any one or more of of drones, and in response to the parent drone leaving the
Examples 51 - 57 optionally include wherein the support plurality of drones, the replacement drone or the at least one
component balance information includes a yaw , a pitch , and child drone is configured to be controllable by the remote
control device .
a roll of the support component.
In Example 59, the subject matter of Example 58 option - 206 . The networked drone system of claim 1, wherein the
ally includes wherein the parent drone is further to compen - IMU is configured to transmit the support platform balance
sate for changes in the yaw , the pitch , or the roll of the information to all drones in the plurality of drones .
support component using a control system .
7 . The networked drone system of claim 1 , wherein the
to receive the support component balance information along
In Example 60 , the subject matter of any one or more of
IMU is configured to transmit the support platform balance
Examples 51-59 optionally include wherein the support 25 information to only the parent drone, and wherein the parent
component is a platform to carry a package for remote
delivery .
drone is configured to communicate the support platform
balance information to remaining drones in the plurality of
drones .
In Example 61, the subjectmatter of any one or more of
Examples 51 -60 optionally include wherein the at least one
8 . The networked drone system of claim 1 , wherein the
child drone includes at least two child drones, and the at least 30 IMU is configured to transmit the support platform balance
two child drones and the parent drone are to dynamically
information wirelessly to the parent drone.
support the support component.
Method examples described herein may be machine or
9 . The networked drone system of claim 1 , wherein the
information along a wire within a support cable to the parent
drone.
10 . The networked drone system of claim 1, wherein the
support platform balance information includes a yaw , a
IMU is configured to transmit the support platform balance
computer- implemented at least in part. Some examples may
include a computer - readable medium or machine -readable 35
medium encoded with instructions operable to configure an
electronic device to perform methods as described in the
above examples. An implementation of such methods may
pitch , and a roll of the support platform .
include code , such as microcode , assembly language code ,
11 . The networked drone system of claim 10 , wherein the
a higher - level language code, or the like. Such code may 40 plurality of drones are configured to compensate for changes
include computer readable instructions for performing various methods. The code may form portions of computer
in the yaw , the pitch , or the roll of the support platform using
a control system , the control system to separately control
program products . Further , in an example , the code may be
each drone in the plurality of drones .
tangibly stored on one or more volatile , non -transitory , or
12 . The networked drone system of claim 1 , wherein the
non -volatile tangible computer -readable media , such as dur - 45 support platform is configured to carry a package for remote
ing execution or at other times . Examples of these tangible
delivery.
computer -readable media may include , but are not limited
13 . The networked drone system of claim 1, wherein the
to , hard disks , removable magnetic disks , removable optical at least one child drone includes at least two child drones ,
disks ( e. g ., compact disks and digital video disks),magnetic
and the at least two child drones and the parent drone are
cassettes , memory cards or sticks, random access memories 50 configured to dynamically support the support platform .
(RAM ), read only memories (ROMs), and the like .
14 . The networked drone system of claim 1 , wherein the
What is claimed is :
1. A networked drone system , the networked drone system
comprising:
a support platform including:
an inertial measurement unit ( IMU ) configured to :
parent drone is configured to receive a movement command
from the remote control device causing the parent drone to
move while maintaining support of the support platform .
55
15 . The networked drone system of claim 1 , wherein the
capture support platform balance information ; and
at least one child drone is configured to maintain a specified
distance from the parent drone.
a plurality of drones configured to support and move the
support and move a support component, the method com
transmit the support platform balance information ;
support platform , the plurality of drones including :
16 . A method for using a networked drone system to
60 prising :
a parent drone controllable by a remote control device, the
parent drone configured to receive the support platform
balance information from the IMU ; and
at least one child drone ; and
a replacement drone configured to join the plurality of 65
drones during flight, the replacement drone configured
to support and move the support platform .
receiving, at a parent drone , support component balance
information captured by an inertialmeasurement unit
on the support component supported by the parent
drone;
adjusting movement of the parent drone according to a
control system using the support component balance
information ;
US 10 ,324 , 462 B2
19
receiving, at the parent drone, a movement command
20
adjust movement of the parent drone according to a
control system using the support component balance
information ;
process a movement command from a remote control
from a remote control device ;
moving the support component according to the move
ment command using the parent drone;
causing, in response to movement of the parent drone , at 5
least one child drone to support the support component
and to move ;
receiving, at the parent drone , an indication of a low
battery in an indicated drone in the networked drone
system , the indication including an identification of a 10
replacement drone to replace the drone with the low
battery in the networked drone system ; and
sending a reconfiguration command to the at least one
child drone to incorporate the replacement drone in the
networked drone system .
15
device ;
move the support component according to the movement
command using the parent drone ;
causing , in response to movement of the parent drone, at
least one child drone to support the support component
and to move ;
process an indication of a low battery in an indicated
drone in the networked drone system , the indication
including an identification of a replacement drone to
replace the indicated drone with the low battery in the
networked drone system ; and
send a reconfiguration command to the at least one child
17 . The method of claim 16 , wherein the reconfiguration
drone to incorporate the replacement drone in the
command includes :
networked drone system .
a first operation to configure drones in the networked
22 . The at least one non -transitory machine -readable
drone system in a first arrangement that includes the
indicated drone with the low battery and the replace- 20 medium of claim 21, wherein the reconfiguration command
includes:
ment drone; and
a first operation to configure drones in the networked
a second operation to configure drones in the networked
drone system in a first arrangement that includes the
drone system in a second arrangement that includes the
indicated drone with the low battery and the replace
replacement drone without the indicated drone with the
ment drone; and
low battery, after the indicated drone with the low 25
a second operation to configure drones in the networked
drone system in a second arrangement that includes the
battery is removed from the networked drone system .
18 . The method of claim 16 , wherein the indicated drone
with the low battery is the parent drone and the replacement
drone becomes a replacement parent drone after the parent
drone is removed from the networked drone system .
19 . The method of claim 16 , further comprising causing
the indicated drone with the low battery to return to a
recharging station after being removed from the networked
drone system .
replacement drone without the indicated drone with the
low battery , after the indicated drone with the low
30
battery is removed from the networked drone system .
medium of claim 21 , wherein the indicated drone with the
23. The at least one non -transitory machine -readable
low battery is the parent drone and the replacement drone
becomes a replacement drone after the parent drone is
networked drone system .
20 . The method of claim 16 , further comprising causing 3535 removed
fel24 . Thefromat the
least one non -transitory machine -readable
the at least one child drone to maintain a specified distance
from the parent drone.
medium of claim 21 , wherein the instructions further cause
the parent drone to cause the indicated drone with the low
battery
return to a recharging station after being removed
including instructions for using a parent drone in a net from theto networked
drone system .
worked drone system to support and move a support com140
- 4
25
.
The
at
least
non -transitory machine -readable
ponent, which when executed by the parent drone , cause the medium of claim 21 , one
wherein the instructions further cause
parent drone to :
the parent drone to cause the at least one child drone to
process support component balance information captured
by an inertial measurement unit on the support com maintain a specified distance from the parent drone .
ponent supported by the parent drone;
* * * * *
21. At least one non- transitory machine- readable medium