# US 11,307,574 B2 · Unmanned aerial vehicle fleet management > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,574 B2 - Document ID: US11307574B2 - Status: Granted - Kind: B2 - Application number: 16/810,053 - Filed: 2020-03-05 - Published: 2020-06-25 - Granted: 2022-04-19 - Earliest claimed: 2018-09-17 - Assignees: Wing Aviation LLC - Applicants: WING Aviation LLC - Inventors: James Schmalzried; André Prager - Web page: https://patentgrep.com/patent/US11307574B2 ## CPC - G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)} - B64U 70/80: Vertical take-off or landing, e.g. using rockets (rotorcrafts B64U10/10; VTOL aircraft B64U10/20) - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)} - G08G 5/21: located onboard the aircraft - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/55: for a single aircraft - G08G 5/57: for unmanned aircraft - G08G 5/74: for monitoring terrain - B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20) - B64U 50/37: Charging when not in flight - B64U 50/39: Battery swapping - B64U 2101/64: for parcel delivery or retrieval - B64U 2201/20: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An unmanned aerial vehicle (UAV) includes one or more sources of propulsion coupled to provide propulsion to the UAV, and a power source coupled to power the one or more sources of propulsion. A communication system is coupled to communicate with an external device, and a controller is coupled to the communication system, the power source, and the one or more sources of propulsion. The controller includes logic that when executed by the controller causes the UAV to perform operations, including: measuring a status of the UAV; sending the status of the UAV to the external device; receiving movement instructions from the external device; and engaging the one or more sources of propulsion to move the UAV from a first location to a second location within a storage facility. ## Claims ### Claim 1 A method of controlling a plurality of unmanned aerial vehicles (UAVs), the method comprising: receiving a status from a first UAV of the plurality of UAVs at a controller remotely located from the plurality of UAVs, wherein the status includes a power source charge level of the first UAV; calculating movement instructions based on the status; and sending the movement instructions to the first UAV, wherein the movement instructions include directions to move the first UAV from a first location within a storage facility to a second location within the storage facility, wherein the first UAV is selected to move to the second location based, at least in part, upon the power source charge level of the first UAV, wherein the second location has a shorter flight time to an egress point of the storage facility or to a staging area of the storage facility, relative to the first location, wherein the movement instructions prioritize movement of the first UAV towards the egress point of the storage facility or towards the staging area of the storage facility over others of the plurality of UAVs within the storage facility having lesser charge levels than the first UAV at the first location within the storage facility. ### Claim 2 (depends on 1) The method of claim 1, wherein the movement instructions instruct the first UAV to move to the second location when the power source charge level is greater than a first threshold level and the power source charge level of the first UAV is greater than that of other UAVs at the first location. ### Claim 3 (depends on 1) The method of claim 1, wherein the storage facility is a geographic area that includes charging pads for charging the plurality of UAVs. ### Claim 4 (depends on 3) The method of claim 3, wherein the storage facility does not include walls that physically enclose the storage facility. ### Claim 5 (depends on 1) The method of claim 1, wherein the staging area comprises an area for loading the plurality of UAVs with packages for delivery via the plurality of UAVs. ### Claim 6 (depends on 1) The method of claim 1, wherein the first location includes first charging pads for charging the plurality of UAVs at the first location within the storage facility. ### Claim 7 (depends on 6) The method of claim 6, wherein the second location includes second charging pads for charging the plurality of UAVs at the second location. ### Claim 8 At least one non-transitory machine-readable storage medium that provides instructions that, when executed by a machine, cause the machine to perform operations comprising: obtaining a status for a first UAV, wherein the status includes a power source charge level of the first UAV; calculating movement instructions based on the status; and instructing the first UAV, based upon the movement instructions, to move from a first location within a storage facility to a second location within the storage facility, wherein the second location is selected based, at least in part, upon the power source charge level, wherein the second location is selected to have a shorter flight time to an egress point of the storage facility or to a staging area of the storage facility, relative to the first location, when the power source charge level is greater than a first threshold level to move the first UAV towards the egress point of the storage facility or towards the staging area of the storage facility before moving other UAVs having lesser charge levels than the first UAV at the first location within the storage facility to the second location within the storage facility. ### Claim 9 (depends on 8) The at least one non-transitory machine-readable storage medium of claim 8, wherein the staging area comprises an area for loading the first UAV or the other UAVs with packages for delivery. ### Claim 10 (depends on 8) The at least one non-transitory machine-readable storage medium of claim 8, wherein the status includes an indicator of a geographic proximity of the first UAV after completing a mission, and wherein the movement instructions include directions to a charging pad that is unoccupied. ### Claim 11 (depends on 8) The at least one non-transitory machine-readable storage medium of claim 8, further providing instructions that, when executed by the machine, cause the machine to perform further operations, comprising: recognizing, using a computer vision system, fiducial markers positioned within the storage facility; and moving the first UAV to the second location with aid from the fiducial markers. ### Claim 12 (depends on 8) The at least one non-transitory machine-readable storage medium of claim 8, wherein the storage facility is a geographic area that includes charging pads for charging the first UAV and the other UAVs. ### Claim 13 (depends on 12) The at least one non-transitory machine-readable storage medium of claim 12, wherein the storage facility does not include walls that physically enclose the storage facility. ### Claim 14 (depends on 8) The at least one non-transitory machine-readable storage medium of claim 8, wherein the second location is selected to have a longer flight time to the egress point of the storage facility or to the staging area, relative to the first location, when the power source charge level of the first UAV is less than a second threshold level to free up space proximate to the egress point or the staging area for the other UAVs having greater charge levels than the first UAV. ### Claim 15 (depends on 14) The at least one non-transitory machine-readable storage medium of claim 14, wherein the status includes a maintenance request and the second location is a maintenance pad when the first UAV requires maintenance. ### Claim 16 At least one non-transitory machine-readable storage medium that provides instructions that, when executed by a machine, cause the machine to perform operations for controlling a plurality of unmanned aerial vehicles (UAVs) within a storage facility, the operations comprising: receiving a status from a first UAV of the plurality of UAVs, wherein the status includes a power source charge level of the first UAV; calculating movement instructions based on the status; and sending the movement instructions to the first UAV, wherein the movement instructions include directions to move the first UAV from a first location within the storage facility to a second location within the storage facility, wherein the first UAV is selected to move to the second location based, at least in part, upon the power source charge level of the first UAV, wherein the second location has a shorter flight time, relative to the first location, to an egress point of the storage facility or to a staging area of the storage facility, wherein the movement instructions prioritize movement of the first UAV towards the egress point or towards the staging area over others of the plurality of UAVs having lesser charge levels than the first UAV at the first location within the storage facility. ### Claim 17 (depends on 16) The at least one non-transitory machine-readable storage medium of claim 16, wherein the movement instructions instruct the first UAV to move to the second location when the power source charge level is greater than a first threshold level and the power source charge level of the first UAV is greater than that of other UAVs at the first location. ### Claim 18 (depends on 16) The at least one non-transitory machine-readable storage medium of claim 16, wherein the storage facility is a geographic area that includes charging pads for charging the plurality of UAVs. ### Claim 19 (depends on 16) The at least one non-transitory machine-readable storage medium of claim 16, wherein the staging area comprises an area for loading the plurality of UAVs with packages for delivery via the plurality of UAVs. ### Claim 20 An unmanned aerial vehicle (UAV), comprising: one or more sources of propulsion coupled to provide propulsion to the UAV; a power source coupled to power the one or more sources of propulsion; a communication system coupled to the power source to communicate with an external device; and a controller coupled to the communication system, the power source, and the one or more sources of propulsion, wherein the controller includes logic that when executed by the controller causes the UAV to perform operations, including: measuring a status of the UAV, the status including a power source charge level of the UAV; sending the status of the UAV to the external device; receiving movement instructions from the external device; and in response to receiving the movement instructions, engaging the one or more sources of propulsion to move the UAV from a first location within a storage facility to a second location within the storage facility, wherein the second location is selected based, at least in part, upon the power source charge level, wherein the second location is selected to have a shorter flight time to an egress point of the storage facility or to a staging area of the storage facility, relative to the first location, when the power source charge level is greater than a first threshold level to prioritize moving the UAV towards the egress point or the staging area over other UAVs also within the storage facility but having lesser charge levels.