# US 12,600,261 B2 · Integration between unmanned aerial system and unmanned ground robotic vehicle

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- Number: US 12,600,261 B2
- Document ID: US12600261B2
- Status: Granted
- Kind: B2
- Application number: 17/657,690
- Filed: 2022-04-01
- Published: 2023-01-26
- Granted: 2026-04-14
- Earliest claimed: 2021-04-02
- Assignees: Asylon, Inc.
- Applicants: Asylon, Inc.
- Inventors: Brent Mclaughlin; Damon C. Henry; Adam I. Mohamed; Justin Kantor; David Dones; Michael Quiroga
- Web page: https://patentgrep.com/patent/US12600261B2

## CPC

- B60L 53/80: Exchanging energy storage elements, e.g. removable batteries
- B60L 53/12: Inductive energy transfer
- B60L 53/14: Conductive energy transfer
- B60L 53/305: {Communication interfaces}
- B60L 53/66: Data transfer between charging stations and vehicles
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0202: {specially adapted to aircraft}
- G05D 1/021: {specially adapted to land vehicles}
- B60L 53/38: specially adapted for charging by inductive energy transfer
- B60L 2200/10: Air crafts
- B60L 2240/622: by satellite navigation
- B60L 2240/72: Charging station selection relying on external data
- B60L 2250/10: by alarm
- B60L 2250/12: by confirmation, e.g. of the input
- B60L 2260/32: Auto pilot mode
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- B64U 50/19: using electrically powered motors
- Y02T 10/70: Energy storage systems for electromobility, e.g. batteries
- Y02T 10/7072: Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64C: AEROPLANES; HELICOPTERS
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Integration between unmanned aerial system and unmanned ground robotic vehicle are disclosed herein. One variation of a robotic system may generally comprise an unmanned aerial vehicle (UAV), an unmanned ground vehicle (UGV), and a base station configured to receive the UAV and replace a spent power supply cartridge from the UAV and further having a charging mechanism configured to wirelessly transfer power to the UGV when the UGV is positioned in proximity to the charging pad.

## Claims

### Claim 1

A robotic system, comprising:
an unmanned aerial vehicle (UAV) configured with a first predetermined mission profile having one or more predetermined UAV waypoints;
an unmanned ground vehicle (UGV) configured with a second predetermined mission profile having one or more predetermined UGV waypoints;
a base station configured to receive the UAV and replace a spent power supply cartridge from the UAV via an automated exchange mechanism and further having a charging mechanism configured to transfer power to the UGV when the UGV is positioned in proximity to the charging mechanism,
wherein the base station or a controller is programmed to alter the first predetermined mission profile and the second predetermined mission profile to divert the UAV and/or UGV to an area of interest when an external alarm is triggered within the area of interest and received by the base station or controller, whereby an indicator is presented to a human operator for affirmation or selective affirmation to divert the UAV and/or UGV to the area of interest.

### Claim 2 (depends on 1)

The system of claim 1 wherein the UAV comprises a drone.

### Claim 3 (depends on 1)

The system of claim 1 wherein the UGV comprises a quadrupedal UGV.

### Claim 4 (depends on 1)

The system of claim 1 wherein the base station comprises a landing zone configured to receive the UAV.

### Claim 5 (depends on 1)

The system of claim 1 wherein the charging mechanism comprises a charging pad.

### Claim 6 (depends on 1)

The system of claim 1 wherein the base station comprises a field server for receiving data wirelessly from the UAV or the UGV.

### Claim 7 (depends on 6)

The system of claim 6 further comprising a cloud-based server in wireless communication with the field server.

### Claim 8 (depends on 7)

The system of claim 7 further comprising a frontend application accessible by an operator and in wireless communication with the cloud-based server.

### Claim 9 (depends on 1)

The system of claim 1 wherein the UGV comprises a computer configured to wirelessly communicate with the base station.

### Claim 10

A method of monitoring an area, comprising:
receiving an alert from a remote alarm;
determining one or more mission requirements based on the alert;
communicating with a UAV and a UGV via a base station, wherein the UAV is configured with a first predetermined mission profile having one or more predetermined UAV waypoints and the UGV is configured with a second predetermined mission profile having one or more predetermined UGV waypoints;
automatically replacing a power supply cartridge from the UAV via an automated exchange mechanism within the base station;
automatically charging the UGV via a charging mechanism in proximity to the base station;
altering the first predetermined mission profile and the second predetermined mission profile to divert the UAV and/or UGV to an area of interest when an external alarm is triggered within the area of interest and received by the base station or controller;
presenting an indicator to a human operator for affirmation or selective affirmation to divert the UAV and/or UGV to the area of interest; and
deploying the UAV alone, the UGV alone, or the UAV and UGV simultaneously to the area of interest upon receiving the affirmation or selective affirmation from the human operator.

### Claim 11 (depends on 10)

The method of claim 10 wherein deploying the UAV or the UGV comprises communicating with the UAV or the UGV via a server within the base station.

### Claim 12 (depends on 11)

The method of claim 11 further comprising wirelessly communicating with the UAV or the UGV via a cloud-based server.

### Claim 13 (depends on 12)

The method of claim 12 further comprising wirelessly communication with the cloud-based server via a frontend application.

### Claim 14 (depends on 10)

The method of claim 10 wherein deploying comprises launching the UAV or the UGV from the base station.

### Claim 15 (depends on 10)

The method of claim 10 wherein deploying comprises altering a mission of the UAV or the UGV.

### Claim 16

A robotic system, comprising:
an unmanned aerial vehicle (UAV) configured with a first predetermined mission profile having one or more predetermined UAV waypoints;
a quadrupedal unmanned ground vehicle (UGV) configured with a second predetermined mission profile having one or more predetermined UGV waypoints; and,
a base station configured to receive the UAV and replace a spent UAV power supply cartridge from the UAV via an automated exchange mechanism, and where the base station is further configured to replace a spent UGV power supply cartridge from the UGV when the UGV is positioned in proximity to the base station, and
wherein the base station or a controller is programmed to alter the first predetermined mission profile from the UAV waypoints and the second predetermined mission profile from the UGV waypoints to divert the respective UAV and/or UGV to an area of interest when an external alarm is triggered within the area of interest and received by the base station or controller, whereby an indicator is presented to a human operator for affirmation or selective affirmation to divert the UAV and/or UGV to the area of interest.