WO2018146528A1

WO2018146528A1 - Drone configured to support an object

Info

Publication number: WO2018146528A1
Application number: PCT/IB2017/050800
Authority: WO
Inventors: Fereydoun FARRAHI MOGHADDAM; Reza FARRAHI MOGHADDAM; Yves Lemieux
Original assignee: Telefonaktiebolaget LM Ericsson AB
Current assignee: Telefonaktiebolaget LM Ericsson AB
Priority date: 2017-02-13
Filing date: 2017-02-13
Publication date: 2018-08-16
Anticipated expiration: 2019-08-13

Abstract

A drone (10), a system of drones and a method for using a drone, where the drone is configured to support an object, is disclosed. The drone includes a first base portion (12a) having a first inner wall (14a), a second base portion (12b) having a second inner wall (14b), the second inner wall facing the first inner wall, the first base portion and the second base portion being separate from each other to form a space (16) there between. The space is arranged to allow for movably affixing an object (18) to at least one of the first inner wall and the second inner wall. The drone further includes a coupler (20) coupling the first base portion to the second base portion.

Description

DRONE CONFIGURED TO SUPPORT AN OBJECT

TECHNICAL FIELD

Drones and in particular, a drone that supports an object.

BACKGROUND

Today, drones are used for many different purposes. For example, drones are used to carry objects such as heavy cameras, or a plurality of drones are used together in order to share the weight of a heavier object such as a long electrical wire or pipe.

As one example, a drone can be attached to a base by a wire which can supply power supply or data communication in a tethered configuration. A problem with a tethered drone of this type is that the weight of the wire itself limits the maximum achievable altitude of the drone. Another problem with this type of tethered drone is that it causes a hazard due to the tangling of the hanging wires with obstacles in between the drone and the base.

Existing tethered drone configurations are known (see, for example, U.S. Patent Application Publication No. 2013/0233964). In these configurations, it is clear that a hazard is created due to the dangling wires that may be tangled with obstacles between the drone and a base. Drones of the type carry the weight of the objects under the center of mass of the drone itself, and, in some cases, carry the center of mass of the object above the center of mass of the drone. This severely limits the maneuverability and stability of the drone.

Another problem associated with typical drones is that, while a series of drones can be used to provide a horizontal expansion of coverage, the drones are not able to provide a vertical expansion because the weight of the wire (cable, hose, etc.) limits the maximum achievable altitude of the drones and increases the hazard of the wire tangling with obstacles. This is because in currently existing drones and drone systems, the center of the mass of the carried object is not matched with the center of the mass of the drone itself, thereby resulting in limited drone maneuverability.

Still another problem associated with typical drones is the absence of any mechanism to securely maintain the carried object, e.g., wire, pipe, etc., within the drone. SUMMARY

The present disclosure advantageously provides a drone, a system of drones, and a method for using a drone that supports an object at the center of the mass of the drone. According to one aspect of the disclosure, a drone is provided. The drone includes a first base portion having a first inner wall, a second base portion having a second inner wall, the second inner wall facing the first inner wall, the first base portion and the second base portion being separate from each other to form a space there between, the space being arranged to allow for movably affixing an object to at least one of the first inner wall and the second inner wall, and a coupler coupling the first base portion to the second base portion.

According to one embodiment of this aspect, the object is a camera.

According to another embodiment, the object is an elongate receptacle configured to support at least a portion of an elongate body, the elongate receptacle being rotatably affixed to the first inner wall and the second inner wall. According to another embodiment, the drone further includes a latch within an interior of the elongate receptacle, the latch configured to secure at least a portion of the elongate body within the interior of the elongate receptacle. According to another embodiment, the drone further includes a lock to lock the elongate receptacle in at least one position with respect to the first base portion and the second base portion.

According to another embodiment, the elongate receptacle includes a longitudinally positioned openable door, the door allowing placement of at least a portion of the elongate body within the elongate receptacle when the door is in an open position and securing at least a portion of the elongated body within the exterior of the elongate receptacle when the door is in a closed position. According to another embodiment, the angle of the coupler is substantially 45 degrees with respect to the horizontal plane. According to another embodiment, the drone further includes a motor assembly configured to at least one of adjust a position of the elongate receptacle and maintain a position of the elongate receptacle with respect to the horizontal plane.

According to another embodiment, the drone further includes at least one securing element being coupled to at least one of the first inner wall and the second inner wall, the at least one securing element movably affixing the object to at least one of the first inner wall and the second inner wall such that the object is located at a center of mass of the drone. According to another embodiment, the elongate receptacle is configured to rotate to a position such that the elongate body extending therefrom is receivable by an elongate receptacle of an adjacent drone. According to another embodiment, the elongate receptacle is cylindrical. According to another embodiment, the elongate receptacle is sized to receive a hose. According to another embodiment, the first base portion, the second base portion, and the coupler form a contiguous body. According to another embodiment, the coupler is further configured to rotatably couple the elongate receptacle to at least one of the first inner wall and the second inner wall. According to another embodiment, the coupler is positioned at an angle greater than or equal to zero degrees and less than or equal to ninety degrees with respect to a horizontal plane.

According to another aspect, a method of using a drone is provided. The drone includes a first base portion having a first inner wall, a second base portion having a second inner wall, the second inner wall facing the first inner wall, the first base portion and the second base portion being separate from each other to form a space there between, the space being arranged to allow for movably affixing an elongate receptacle to at least one of the first inner wall and the second inner wall, and a coupler coupling the first base portion to the second base portion, the coupler positioned at an angle greater than zero degrees and less than ninety degrees with respect to a horizontal plane. In one embodiment, the method includes inserting an elongate body within the elongate receptacle such that an end of the elongate body extends from the elongate receptacle, and maneuvering the drone such that the elongate receptacle rotates to retain the end of the elongate body extending from the elongate receptacle at a location.

According to one embodiment of this aspect, the method further includes securing at least a portion of the elongate body within an interior of the elongate receptacle. According to another embodiment, the method further includes locking the elongate receptacle in at least one position with respect to the first base portion and the second base portion. According to another embodiment, the method further includes placing at least a portion of the elongate body within a longitudinally positioned openable door along an exterior of the elongate receptacle when the door is in an open position, and securing the at least a portion of the elongated body along the exterior of the elongate receptacle when the door is in a closed position.

According to another embodiment, the angle of the coupler is substantially 45 degrees with respect to the horizontal plane. According to another embodiment, the method further includes at least one of adjusting a position of the elongate receptacle and maintaining the position of the elongate receptacle with respect to the horizontal plane. According to another embodiment, the method further includes movably affixing the elongate receptacle to at least one of the first inner wall and the second inner wall such that the elongate receptacle is located at a center of mass of the drone.

According to another aspect, a system including a plurality of drones is provided, where each of the plurality of drones includes a first base portion having a first inner wall, a second base portion having a second inner wall, the second inner wall facing the first inner wall, the first base portion and the second base portion being separate from each other to form a space there between, the space being arranged to allow for movably affixing an elongate receptacle to at least one of the first inner wall and the second inner wall, a coupler coupling the first base portion to the second base portion, the coupler positioned at an angle greater than zero degrees and less than ninety degrees with respect to a horizontal plane. In one embodiment, the system includes an anchor drone of the plurality of drones, the anchor drone configured to receive an end of an elongate body and to retain the end of the elongate body at a location, and at least one non-anchor drone of the plurality of drones, each of the at least one non-anchor drones configured to receive at least a portion of the elongate body within the elongate receptacle.

BRIEF DESCRIPTION OF THE DRAWINGS

A more complete understanding of the present embodiments, and the attendant advantages and features thereof, will be more readily understood by reference to the following detailed description when considered in conjunction with the accompanying drawings wherein: FIG. 1 is a front perspective view of an embodiment of the drone of the present disclosure;

FIG. 2 is a top view of an embodiment of the drone of the present disclosure;

FIG. 3 is a rear view of an embodiment of the drone of the present disclosure; FIG. 4 is a front view of an embodiment of the drone of the present disclosure;

FIG. 5 is a side view of an embodiment of the drone of the present disclosure;

FIG. 6 is a rear perspective view of an alternate embodiment of the drone of the present disclosure showing a rotatable cylinder between the two portions of the drone;

FIG. 7 is a side view of the alternate embodiment of the drone of the present disclosure showing the rotatable cylinder in a substantially vertical position;

FIG. 8 is a side view of the alternate embodiment of the drone of the present disclosure showing the rotatable cylinder in a substantially horizontal position;

FIG. 9 is a side view of the alternate embodiment of the drone of the present disclosure showing the rotatable cylinder positioned at a first angle with respect to a horizontal plane;

FIG. 10 is a side view of the alternate embodiment of the drone of the present disclosure showing the rotatable cylinder positioned at a second angle with respect to the horizontal plane;

FIG. 11 is a perspective view of the alternate embodiment of the drone of the present disclosure, including a door within the elongate receptacle in an open configuration to allow insertion of the elongate body therein;

FIG. 12 is a perspective view of the alternate embodiment of the drone of the present disclosure, including the door within the elongate receptacle in a closed configuration to secure the elongate body therein;

FIG. 13 illustrates an exemplary use of one or more drones of the present disclosure;

FIG. 14 illustrates another exemplary use of one or more drones of the present disclosure; and

FIG. 15 is a flow diagram illustrating a method of using a drone according to the principles of the present disclosure. DETAILED DESCRIPTION

Before describing in detail exemplary embodiments, it is noted that the embodiments reside primarily in combinations of apparatus components related to a drone and a system of drones. In one embodiment, the proposed drone includes a first base portion and a second base portion where the first and second base portions form a space there between to allow for movably affixing an object to at least one of the first base portion and the second base portion. In one embodiment, the proposed drone also includes a coupler coupling the first base portion to the second base portion. In one embodiment, the coupler is positioned at an angle greater than zero degrees and less than ninety degrees with respect to a horizontal plane. This arrangement allows for the object to be held at a wide variety of angles with respect to the horizontal plane.

Accordingly, components have been represented where appropriate by conventional symbols in the drawings, showing only those specific details that are pertinent to understanding the embodiments so as not to obscure the disclosure with details that will be readily apparent to those of ordinary skill in the art having the benefit of the description herein.

As used herein, relational terms, such as "first" and "second," "top" and

"bottom," and the like, may be used solely to distinguish one entity or element from another entity or element without necessarily requiring or implying any physical or logical relationship or order between such entities or elements.

In some embodiments, the drone of the present disclosure can advantageously carry objects in such a way that the carried object is at the substantial center of the mass of drone. However, the disclosure is not limited solely to this arrangement. It is contemplated that the object may be carried outside the drone's center of mass as well.

In some embodiments, the drone of the present disclosure advantageously includes a grip-and-release mechanism that secures an elongate body such as a wire, a hose, or a cable, within an elongate cylinder secured to the drone. The grip-point can be changed in order to adjust the length of wire/pipe segment protruding from the drone. In some embodiments, the drone of the present disclosure can advantageously expand the accessible area to a base much higher vertically than normal tethered drones in order to reach high altitude areas.

In some embodiments, the drone of the present disclosure can advantageously avoid tangling its wires or cable with arbitrary stationary and/or moving obstacles.

In some embodiments, the drone of the present disclosure can advantageously carry objects in a manner such that the object, and even the center of the mass of object, is at the center of the mass of drone, and in the case of a long flexible object, such as cable, wire or pipe, the drone can "cascade" with other similar-type drones to expand the accessible area to a base horizontally, vertically, or diagonally to avoid arbitrary obstacles.

Referring now to the drawings, in which like reference designators refer to like elements, there is shown in FIGS. 1-15, an exemplary drone, a system of drones and a method for using a drone, and its related components, constructed in accordance with the principles of the present disclosure. As described herein, the drone is designated generally as "10." Referring to FIG. 1, drone 10 may include, in one embodiment, a first base portion 12a and a second base portion 12b. First base portion 12a may include an inner wall 14a and second base portion 12b may include an inner wall 14b facing inner wall 14a of first base portion 12a. Although drone 10 shown in FIG. 1 and in the ensuing figures is shaped as a dome, with first base portion 12b and second base portion 12b each having a half-dome shape, the figures are exemplary only, and drone 10 may be of any shape or dimension. Further, it is noted that first inner wall 14a and second inner wall 14b need not be fiat and parallel to each other as shown. One or both of first inner wall 14a and second inner wall 14b may assume any shape, i.e., curved, straight, a combination of curved and straight, etc.

As shown in FIG. 1, first base portion 12a and second base portion 12b are separated from each other in order to form a space 16 there between. Space 16 is arranged to allow for movably affixing an object 18 to at least one of first inner wall 14a and second inner wall 14b and thus space 16 can vary in dimension in order to accommodate object 18. Drone 10 also includes a coupler 20, which couples and aligns first base portion 12a with respect to second base portion 12b. In one embodiment, coupler 20 can be contiguous with first base portion 12a, second base portion 12b. In other words, in this embodiment, drone 10 can be a "horseshoe" shape or "U" shape, i.e., first base portion 12a forming one elongated side of the "U," second base portion 12b forming a second elongated side of the "U,", and coupler 20 forming the lateral portion of the "U" thus forming a contiguous body of drone 10.

In one embodiment, object 18 is a camera, as shown in FIG. 1. Object 18 can be secured in space 16 between first base portion 12a and second base portion 12b by a securing element 19, i.e., pins, or screws, or other similar types of protrusions that allow object 18 to be rotatably affixed to drone 18. In one embodiment, at least one securing element 19 is coupled to at least one of first inner wall 14a and second inner wall 14b. One or more securing elements 19 movably affix object 18 to at least one of first inner wall 14a and second inner wall 14b such that, in one embodiment, object 18 can be located at the center of mass of drone 10. In this scenario, the object 18, i.e., camera, can be rotatably coupled in space 16 between first base portion 12a and second base portion 12b. This is useful, for example, if photographs or video are needed of an object from a high altitude.

Object 18 can rotate freely in space 16 with the only obstruction being coupler 20. However, as discussed below with regard to the embodiment shown in FIGS. 6- 10, coupler 20, due to its angled position with respect to a horizontal plane 21, would not restrict a rotating object 18, such as a cylinder, to any particular angle. As explained below, the cylinder or any other rotating object 18 can be rotated in one direction until it contacts coupler 20, which would limit any further rotation in that direction. The rotating object 18 can then be rotated in an opposite direction until it again contacts coupler 20. For the small angular range where object 18 would otherwise be restricted, operating drone 10 rotated 180 degrees about the axis of the drone would make that angular range available to object 18. In this fashion, a substantially full rotation of 360 degrees of object 18 with respect to a horizontal plane 21 may be achieved.

Advantageously, in one embodiment, the object 18 is located at the center of mass of drone 10, the object 18 being secured between first base portion 12a and second base portion 12b in the manner described above. Thus, rather than object 18 hanging below drone 18 by a connection conduit, such as a wire, cable, hose, or the like, object 18 resides in the center of drone 10, i.e., in space 16 between first base portion 12a and second base portion 12b. In this fashion, the weight of object 18 does not hinder the ability of drone 10 to maintain stability and to gain the altitude required in order to accomplish a task that requires drone 10 to fly at relatively high altitude.

FIG. 2 illustrates a top view of drone 10. In this view, propeller blades 22 can be seen extending from drone 10. Space 16 can be seen between first base portion 12a and second base portion 12b. It is noted that the dimensions of space 16 can vary and need not be of the rectangular shape shown in the figures. The distance between first inner wall 14a and second inner wall 14b can vary in order to accommodate an object 18 of different dimensions. For example, if a large camera as shown in FIG. 1 is to be carried by drone 10, the dimensions of space 16 may have to be altered in order to accommodate the camera as compared with carrying a smaller object. In one embodiment, the securing elements 19 can be of varying size or arranged to secure objects of varying size. In other embodiments, coupler 20 is arranged to allow the size of space 16 to be adjusted.

FIGS. 3 and 4 show back and front views, respectively, of drone 10. Again, space 16, sized to receive an object 18, can be seen.

FIG. 5 is a side view of drone 10, showing coupler 20 disposed at an angle, i.e., 45 degrees. The angle of coupler 20 need not be 45 degrees, and indeed may be disposed at any angle greater than zero degrees and less than 90 degrees with respect to a horizontal plane 21.

FIG. 6 illustrates an alternate embodiment of drone 10 according to the present disclosure. In this embodiment, object 18 is an elongate receptacle 24 configured to house and support at least a portion of an elongate body 26, i.e., such as a hose, a wire, a cable, etc. Elongate receptacle 24 is rotatably affixed to at least one of first inner wall 14a of first base portion 12a and second inner wall 14b of second base portion 12b via securing element 19. Elongate receptacle 24 can be, for example, a hollow cylinder configured to receive and, in some embodiments secure, elongate body 26, i.e., a cable, wire, hose, etc., therein. By securing at least a portion of elongate body 26 within elongate receptacle 24, the possibility of collision between the drone propeller blades 22 and the elongate body 26 is minimized. In one embodiment, elongate receptacle 24 includes, within its interior, a latch 28 configured to secure at least a portion of elongate body 26 within the interior of elongate receptacle 24. Latch 28 serves as a "grip-and-release" mechanism to secure the elongate body 26 to the interior of elongate receptacle 24 to prevent elongate body 26 from sliding up and down when elongate receptacle 24 is in a vertical or substantially vertical orientation. It should be noted that latch 28 is an optional feature, and thus elongate receptacle 24 need not include such a feature. Further, latch 28 may be any form of "grip-and-release" mechanism and need not look like the latch 28 depicted in FIG. 6. For example, latch 28 may be an "iris-like" latch, i.e., have an adjustable circular opening that encircles elongate body 26 to retain elongate body 26 within elongate receptacle 24. In some embodiments, latch 28 can be controlled remotely to lock and/or release the elongate body 26 within the elongate receptacle 24.

FIG. 6 shows the arrangement of coupler 20 with respect to the rotatable elongate receptacle 24. Elongate receptacle 24 can rotate in a first direction until it contacts coupler 20, which prevents any further rotation of elongate receptacle 24 in the first direction. However, elongate receptacle 24 may then rotate in a second direction, opposite the first direction, in order to provide a full 0 to 360 degree range of motion when combined with drone 10' s ability to rotate 180 degrees along the axis, i.e., the axis taken through the center of drone 10 perpendicular to the plane 21 of the drone. This advantageously allows elongate body 26 to be oriented in any angle with respect to the horizontal plane 21 of drone 10. Thus, there is virtually no restriction to the range of support for elongate body 26, i.e., a wire or hose, extending through elongate receptacle 24. The elongate body 26 extends through elongate receptacle 24 which has been rotated to a desired angle in order to position drone 10, and elongate body 26 at a desired location. For example, if a fire needs to be extinguished at an upper story of an apartment building, a series of drones 10 could be positioned such that a hose (i.e., elongate body 26) containing water or some other type of fire- extinguishing substance could be positioned through the interior of each elongate receptacle 24 of each of the plurality of drones 10 until the dispensing end of the hose is positioned proximate the location of the fire. Because each elongate receptacle 24 can rotate to virtually any angle, the dispensing end of elongate body 26 can be placed at any desired location by maneuvering the plurality of drones 10. Thus, elongate receptacle 24 of each drone 10 is configured to rotate to a desired position such that elongate body 26 can extend from one drone 10 to another drone 10 until the dispending end of elongate body 26 is at a desired location. In this fashion, one or more drones 10 of the present disclosure can not only provide horizontal expansion but also vertical expansion in a manner that avoids the tangling of elongate body 26 or interference between elongate body 26 and drone 10.

In another embodiment, coupler 20 is configured to rotatably couple elongate receptacle 24 to at least one of first inner wall 14a and second inner wall 14b. In other words, elongate receptacle 24 can be connected to a first side of coupler 20 extending from first inner wall 14a and elongate receptacle 24 can be connected to a second side of coupler 20 extending from second inner wall 14b. Thus, in this fashion, elongate receptacle 24 can rotate in space 16 between first base portion 12a and second portion 12b while being coupled to one or each of first inner wall 14a and second inner wall 14b by coupler 20.

In one embodiment, drone 10 includes a motor assembly 27 configured to at least one of adjust a position of elongate receptacle 24 and maintain a position of elongate receptacle 24 with respect to the horizontal plane 21. Thus, for example, motor assembly 27 can be a stepper motor which, under the direction of controller (not shown), can be used to rotate the position of elongate receptacle 24 in order to enable elongate body 26 to be placed at a desired location. It should be noted that motor assembly 27 is an optional feature, and thus drone 10 need not include such a feature. In these embodiments, it is contemplated that the controller can be a conventional stepper controller as may be known in the art that includes a processor, memory and motor drive components.

In one embodiment, drone 10 includes a lock 29 to lock elongate receptacle 24 in at least one position with respect to first base portion 12a and the second base portion 12b. Thus, if, for example, it is desirable to position the elongate body 26 in a desired position, lock 29 can lock the elongate receptacle 24 at a desired angle, thus preventing the elongate receptacle 24 and the elongate body 26 therein from moving to a different angle. This could be useful in the fire scenario discussed above. For example, a series of drones 10, each carrying a portion of a hose, can be maneuvered such that the end of a hose carrying water or other fire-retardant substance is positioned such that it can effectively spray the fire. The elongate receptacle 24 of each of the drones can be rotated in such a fashion in order to extend the hose to an optimal location. Once this optimal location is achieved, the angle of rotation of each of the elongate receptacles 24 can be locked in place by lock 29, prevented unwanted motion. It should be noted that lock 29 is an optional feature, and thus drone 10 need not include such a feature.

FIG. 7 shows elongate receptacle 24 in a substantially vertical orientation. An elongate body 26 can extend through the interior of elongate receptacle 24 in order to increase the vertical expansion of drone 10 or a series of drones 10. This orientation might be useful in the fire scenario discussed above, or in any scenario where a wire, hose, or cable, needs to be elevated to a certain height.

FIG. 8 shows elongate receptacle 24 in a substantially horizontal orientation.

This orientation might be useful where a series of drones 10 are used to provide a wire or hose to a location horizontally remote from the base, i.e., the base being the source of whatever substance is being carried by elongate body 26, i.e., electricity, water, etc.

FIGS. 9 and 10 illustrate an embodiment of the present disclosure where coupler 20 may be relocated from one position to another in order to allow for complete rotation of elongate receptacle 24. For example, FIG. 9 shows that elongate receptacle 24 can be rotated to virtually any desired angle. However, if the desired angle is at the exact angle where coupler 20 is located, coupler 20 may, in one embodiment, be relocated to a different angle with respect to the horizontal plane 21, as in FIG. 10 to allow the desired angle of rotation of elongate receptacle 24, previously blocked by the prior location of coupler 20, to be achieved.

FIGS. 11 and 12 illustrate another embodiment of the present disclosure. The elongate receptacle 24 of drone 10 includes a longitudinally positioned openable door 30, the door 30 allowing placement of at least a portion of elongate body 26 within elongate receptacle 24 when door 30 is in an open position and securing at least a portion of elongated body 26 within the interior of elongate receptacle 24 when door 30 is in a closed position. Thus, instead of having to thread the elongated body 26 through the ends of elongated receptacle 24, elongated body 26 can be inserted through door 30 when the door is in an open position 30 as shown in FIG. 11. Once positioned within the interior of elongated receptacle 24, door 30 can be closed and the elongated body 26 retained by the elongated receptacle 24 as shown in FIG. 12. The opening and closing of door 30 can be done manually, mechanically, electrically or by any controlling arrangement, i.e., such as via the use of a motor.

FIG. 13 illustrates a system 32 that includes a plurality of drones 10 of the type of drones 10 described herein. As shown in FIG. 13, system 32 includes an anchor drone 34 of the plurality of drones 10. The anchor drone 34, which may include the features of a drone 10 as described above, is configured to receive an end 36 of elongate body 26 and to retain the end 36 of elongate body 26 at a desired position. In the example shown in FIG. 13, a cascade of drones 10 is carrying a water hose to the top of a building. Each of the series of drones 10 are positioned such that each drone's elongated receptacle 24 is rotated to receive the hose such that the end 36 of the hose extends out of anchor drone 34 in order to allow water or another fire extinguishing substance to exit the hose and put out a fire that exists at a high elevation. There is no limit to the number of drones 10 that may be included in system 32. System 32 may also include at least one non-anchor drone, i.e., drones 10a and 10b, where each of the at least one non-anchor drones 10a and 10b are configured to receive at least a portion of elongate body 26 within its elongate receptacle 24.

Each non-anchor drone 10a, 10b, and 34 of system 32 is only responsible for the weight of a portion of the elongated receptacle 26 (i.e., hose) as shown in a firefighting scenario of FIG. 13. Therefore, there is no limitation of the total weight of the wire/hose since additional drones can always be added to the system 32.

Because the elongate receptacles 24 of each drone can be positioned at any arbitrary angle, it is easy to create a path between arbitrary obstacles to avoid collision with the obstacles or to create an optimal path to position anchor drone 34 at a desired location. In certain scenarios, the obstacles are moving objects, or access to a certain location becomes restricted. In these instances, the path must be dynamically updated. Scenarios can include, for example, an agricultural scenario where plants must be watered or sprayed but due to rough or uneven terrain, a vehicle carrying the spraying equipment cannot easily arrive at the site. System 32 may be applied when repairs at a factory require the use of a flexible robotic arm, or when the inside or outside of a building needs to be painted and due to trees or other obstacles, there is limited access to certain parts of the building. Another scenario is a factory production line, where obstacles might restrict access to certain machinery. In these scenarios, a system 32 can be designed using drones 10 including an anchor drone 34 to overcome these obstacles.

The scenario shown in FIG. 13 is just one use-case example of the drones 10 of the present disclosure. FIG. 14 illustrates another use-case example. In this embodiment, one or more drones 10 are used in a coordinated manner to wash a large object 18, such as an airplane. A series of drones 10 are arranged to position one or more anchor drones 34 such that an elongate body 26, i.e., a hose, extends from each anchor drone 34 in order to spray water or other cleaning material to the surface of object 18. As described above, because elongate receptacle 24 can rotate in virtually any angle, elongate body 26 which extends through the interior of elongate receptacle 24 can be directed, through a series of drones 10 to anchor drone 34, which is positioned proximate object 18.

FIG. 15 is a flow diagram illustrating a method of using drone 10 according to the principles of the present disclosure. Drone 10 includes first base portion 12a having first inner wall 14a, second base portion 12b having second inner wall 14b, where second inner wall 14b faces first inner wall 14a. First base portion 12a and second base portion 12b are separate from each other to form space 16 there between, the space 16 being arranged to allow for movably affixing elongate receptacle 24 to at least one of first inner wall 14a and second inner wall 14b. Drone 10 also includes coupler 20 coupling first base portion 12a to second base portion 12b, where the coupler 20 is positioned at an angle greater than zero degrees and less than ninety degrees with respect to a horizontal plane 21. In one embodiment, the method includes inserting elongate body 26 within elongate receptacle 24 such that an end 36 of elongate body 26 extends from elongate receptacle 24 (Block S100), and maneuvering drone 10 such that elongate receptacle 24 rotates to retain the end 36 of elongate body 26 extending from elongate receptacle 24 at a desired location (Block S110).

According to another embodiment, the method further includes securing at least a portion of elongate body 26 within an interior of elongate receptacle 24. According to another embodiment, the method further includes locking elongate receptacle 24 in at least one position with respect to first base portion 12a and second base portion 12b.

According to another embodiment, the method further includes placing at least a portion of elongate body 26 within a longitudinally positioned openable door 30 along an exterior of elongate receptacle 24 when door 30 is in an open position, and securing at least a portion of elongated body 26 along the exterior of elongate receptacle 24 when door 30 is in a closed position.

According to another embodiment, the angle of coupler 20 is substantially 45 degrees with respect to the horizontal plane 21.

According to another embodiment, the method further includes at least one of adjusting a position of elongate receptacle 24 and maintaining the position of elongate receptacle 24 with respect to the horizontal plane 21.

According to another embodiment, the method further includes movably affixing elongate receptacle 24 to at least one of first inner wall 14a and second inner wall 14b such that elongate receptacle 24 is located at a center of mass of drone 10.

Drone 10 as described herein is a flying device that is remotely piloted and/or controlled by a controller station as commonly known in the art. Drone 10 includes mechanical and electrical components to allow drone 10 the ability to operate basic flying maneuvers at the instruction of the controller station and to communication with the controller station through various wired and/or wireless communication technology commonly known in the art. Drone 10 includes a controller as commonly known in the art to enable drone 10 to control its flight, communicate with an operator, transmit video signals, and operate the motors, actuators, ailerons or other devices to enable drone 10 to fly.

It is to be understood that the functions/acts noted in the blocks of the flow diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Although some of the diagrams include arrows on communication paths to show a primary direction of communication, it is to be understood that communication may occur in the opposite direction to the depicted arrows.

Many different embodiments have been disclosed herein, in connection with the above description and the drawings. It will be understood that it would be unduly repetitious and obfuscating to literally describe and illustrate every combination and subcombination of these embodiments. Accordingly, all embodiments can be combined in any way and/or combination, and the present specification, including the drawings, shall be construed to constitute a complete written description of all combinations and subcombinations of the embodiments described herein, and of the manner and process of making and using them, and shall support claims to any such combination or subcombination.

It will be appreciated by persons skilled in the art that the embodiments described herein are not limited to what has been particularly shown and described herein above. In addition, unless mention was made above to the contrary, it should be noted that all of the accompanying drawings are not to scale. A variety of modifications and variations are possible in light of the above teachings without departing from the scope of the following claims.

Claims

What is claimed is:

1. A drone (10) comprising:

a first base portion (12a) having a first inner wall (14a);

a second base portion (12b) having a second inner wall (14b), the second inner wall (14b) facing the first inner wall (14a), the first base portion (12a) and the second base portion (12b) being separate from each other to form a space (16) there between, the space (16) being arranged to allow for movably affixing an object (18) to at least one of the first inner wall (14a) and the second inner wall (14b); and

a coupler (20) coupling the first base portion (12a) to the second base portion (12b).

2. The drone (10) of Claim 1, wherein the object (18) is a camera.

3. The drone (10) of Claim 1, wherein the object (18) is an elongate receptacle (24) configured to support at least a portion of an elongate body (26), the elongate receptacle (24) being rotatably affixed to the first inner wall (14a) and the second inner wall (14b).

4. The drone (10) of Claim 3, further comprising a latch (28) within an interior of the elongate receptacle (24), the latch (28) configured to secure at least a portion of the elongate body (26) within the interior of the elongate receptacle (24).

5. The drone (10) of any of Claims 3-4, further comprising a lock (29) to lock the elongate receptacle (24) in at least one position with respect to the first base portion (12a) and the second base portion (12b).

6. The drone (10) of any of Claims 3-5, wherein the elongate receptacle (24) includes a longitudinally positioned openable door (30), the door (30) allowing placement of at least a portion of the elongate body (26) within the elongate receptacle (24) when the door (30) is in an open position and securing at least a portion of the elongated body (26) within the exterior of the elongate receptacle (24) when the door (30) is in a closed position.

7. The drone (10) of any of Claims 1-6, wherein the coupler (20) positioned at an angle greater than or equal to zero degrees and less than or equal to ninety degrees with respect to a horizontal plane.

8. The drone (10) of any of Claims 1-7, wherein the angle of the coupler (20) is substantially 45 degrees with respect to the horizontal plane.

9. The drone (10) of any of Claims 3-8, further comprising a motor assembly (27) configured to at least one of adjust a position of the elongate receptacle (24) and maintain a position of the elongate receptacle (24) with respect to the horizontal plane.

10. The drone (10) of any of Claims 1-9, further comprising at least one securing element (19) being coupled to at least one of the first inner wall (14a) and the second inner wall (14b), the at least one securing element (19) movably affixing the object (18) to at least one of the first inner wall (14a) and the second inner wall (14b) such that the object (18) is located at a center of mass of the drone (10).

11. The drone (10) of any of Claims 3-10, wherein the elongate receptacle (24) is configured to rotate to a position such that the elongate body (26) extending therefrom is receivable by an elongate receptacle (24) of an adjacent drone (10).

12. The drone (10) of any of Claims 3-11, wherein the elongate receptacle (24) is cylindrical.

13. The drone (10) of Claim 12, wherein the elongate receptacle (24) is sized to receive a hose.

14. The drone (10) of any of Claims 1-13, wherein the first base portion (12a), the second base portion (12b), and the coupler (20) form a contiguous body.

15. The drone (10) of any of Claims 3-14, wherein the coupler (20) is further configured to rotatably couple the elongate receptacle (24) to at least one of the first inner wall (14a) and the second inner wall (14b).

16. A method of using a drone (10), the drone (10) comprising a first base portion (12a) having a first inner wall (14a), a second base portion (12b) having a second inner wall (14b), the second inner wall (14b) facing the first inner wall (14a), the first base portion (12a) and the second base portion (12b) being separate from each other to form a space (16) there between, the space (16) being arranged to allow for movably affixing an elongate receptacle (24) to at least one of the first inner wall (14a) and the second inner wall (14b), and a coupler (20) coupling the first base portion (12a) to the second base portion (12b), the coupler (20) positioned at an angle greater than zero degrees and less than ninety degrees with respect to a horizontal plane, the method comprising:

inserting an elongate body (26) within the elongate receptacle (24) such that an end (36) of the elongate body (26) extends from the elongate receptacle (24) (Block SI 00); and

maneuvering the drone (10) such that the elongate receptacle (24) rotates to retain the end (36) of the elongate body (26) extending from the elongate receptacle (24) at a location.

17. The method of Claim 16, further comprising securing at least a portion of the elongate body (26) within an interior of the elongate receptacle (24).

18. The method of any of Claims 16-17, further comprising locking the elongate receptacle (24) in at least one position with respect to the first base portion (12a) and the second base portion (12b).

19. The method of any of Claims 16-18, further comprising:

placing at least a portion of the elongate body (26) within a longitudinally positioned openable door (30) along an exterior of the elongate receptacle (24) when the door (30) is in an open position; and securing the at least a portion of the elongated body (26) along the exterior of the elongate receptacle (24) when the door (30) is in a closed position.

20. The method of any of Claims 16-19, wherein the angle of the coupler (20) is substantially 45 degrees with respect to the horizontal plane.

21. The method of any of Claims 16-20, further comprising at least one of adjusting a position of the elongate receptacle (24) and maintaining the position of the elongate receptacle (24) with respect to the horizontal plane.

22. The method of any of Claims 16-21, further comprising movably affixing the elongate receptacle (24) to at least one of the first inner wall (14a) and the second inner wall (14b) such that the elongate receptacle (24) is located at a center of mass of the drone (10).

23. A system (32) including a plurality of drones (10), each of the plurality of drones (10) having:

a first base portion (12a) having a first inner wall (14a);

a second base portion (12b) having a second inner wall (14b), the second inner wall (14b) facing the first inner wall (14a), the first base portion (12a) and the second base portion (12b) being separate from each other to form a space (16) there between, the space (16) being arranged to allow for movably affixing an elongate receptacle (24) to at least one of the first inner wall (14a) and the second inner wall (14b);

a coupler (20) coupling the first base portion (12a) to the second base portion (12b), the system comprising:

an anchor drone (34) of the plurality of drones (10), the anchor drone (34) configured to receive an end (36) of an elongate body (26) and to retain the end (36) of the elongate body (26) at a desired position; and

at least one non-anchor drone (10a, 10b) of the plurality of drones (10), each of the at least one non-anchor drones (10a, 10b) configured to receive at least a portion of the elongate body (26) within the elongate receptacle (24).