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公开(公告)号：US09619709B2
公开(公告)日：2017-04-11
申请号：US14721162
申请日：2015-05-26
Applicant: DISNEY ENTERPRISES, INC.
Inventor： James Alexander Stark , Clifford Wong
IPC: G06K9/00 , B64C19/00 , B64C39/02 , B64D47/06 , G05D1/10 , G06T1/00 , G06K19/06 , G06K9/32 , G06T7/73
CPC classification number: G06K9/0063 , B64C19/00 , B64C39/02 , B64D47/06 , G05D1/101 , G05D1/104 , G06K9/3216 , G06K19/06131 , G06K2009/3225 , G06T7/73 , G06T2207/30204
Abstract: A method for locating markers in an image captured by a mobile device moving about an operating space. The method includes preprocessing an image to generate a set of image data, locating fixed features of markers by tracing edges of the fixed features, and extracting variable data payloads of each of the markers associated with the located fixed features. The fixed features of each of the markers may include a pair of parallel lines extending along opposite sides of a data area containing the variable data payload, and each of the lines extends a distance beyond each exposed end of the data area to avoid missing data when markers are not arranged orthogonally to the scan direction. The preprocessing involves rotating or skewing the image to provide rotated or skewed versions of the image to facilitate locating markers regardless of their angular orientation in the image.
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公开(公告)号：US08862285B2
公开(公告)日：2014-10-14
申请号：US13769007
申请日：2013-02-15
Applicant: Disney Enterprises, Inc.
Inventor： Clifford Wong , James Alexander Stark , Robert Scott Trowbridge
CPC classification number: B64D47/02 , B64C19/00 , B64C27/08 , B64C39/02 , B64C39/024 , B64C2201/027 , B64C2201/128 , B64C2201/146 , F21V1/16 , F21V1/22 , F21V11/00 , F21V21/15 , F21V33/00 , F21W2121/00 , F21Y2113/10 , F21Y2115/10 , G05D1/104 , G09F21/10 , G09G5/02 , G09G5/12 , G09G2320/062 , G09G2320/0666 , G09G2380/12 , H05B33/0857
Abstract: A system for performing an aerial display. The system includes a plurality of UAVs each including a propulsion device and a display payload, and the system includes a ground station system with a processor executing a fleet manager module and memory storing a different flight plan and a set of display controls for the UAVs. Then, wherein, during a display time period, the UAVs concurrently execute the flight plans through operation of the propulsion devices and operate the display payloads based on the display controls. The display payloads each include a lighting assembly and a light controller. The output light is one of a two or more colored light streams, and each of the display payloads further may include a light diffuser with the output light being directed onto a surface of the light diffuser. The light diffuser may include a light diffusing screen extending about the lighting assembly.
Abstract translation: 用于执行空中显示的系统。 该系统包括多个UAV，每个UAV包括推进装置和显示有效载荷，并且该系统包括地面站系统，其具有执行车队管理器模块的处理器以及存储针对UAV的不同飞行计划和一组显示控制的存储器。 然后，在显示时间段期间，UAV通过操作推进装置同时执行飞行计划，并根据显示控制来操作显示有效载荷。 显示器有效载荷各自包括照明组件和灯控制器。 输出光是两个或更多个彩色光流中的一个，并且每个显示有效载荷还可以包括光扩散器，其中输出光被引导到光扩散器的表面上。 光扩散器可以包括围绕照明组件延伸的光漫射屏。
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3.发明授权Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays 有权控制无人驾驶飞行器作为群飞行同步飞行在空中显示公开(公告)号：US09102406B2
公开(公告)日：2015-08-11
申请号：US13768823
申请日：2013-02-15
Applicant: DISNEY ENTERPRISES, INC.
Inventor： James Alexander Stark , Clifford Wong , Robert Scott Trowbridge
CPC classification number: B64C39/024 , B64C2201/024 , B64C2201/027 , B64C2201/128 , B64C2201/143 , B64C2201/146 , B64D47/02 , G05D1/0027 , G05D1/0808 , G05D1/102 , G05D1/104 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0034 , G08G5/0039 , G08G5/0069 , G08G5/04 , G08G5/045
Abstract: A system for flock-based control of a plurality of unmanned aerial vehicles (UAVs). The system includes UAVs each including a processor executing a local control module and memory accessible by the processor for use by the local control module. The system includes a ground station system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The flight plans are stored on the UAVs, and, during flight operations, each of the local control modules independently controls the corresponding UAV to execute its flight plan without ongoing control from the fleet manager module. The fleet manager module is operable to initiate flight operations by concurrently triggering initiation of the flight plans by the multiple UAVs. Further, the local control modules monitor front and back and communication channels and, when a channel is lost, operate the UAV in a safe mode.
Abstract translation: 一种用于多个无人机（UAV）的基于群控的系统。 该系统包括各自包括执行本地控制模块的处理器和由处理器访问以由本地控制模块使用的存储器的UAV。 该系统包括具有处理器执行车队管理器模块的地面站系统以及存储针对每个无人机的不同飞行计划的存储器。 飞行计划存储在无人机上，并且在飞行操作期间，每个本地控制模块独立地控制相应的无人机以执行其飞行计划，而不需要从车队管理器模块进行控制。 车队管理器模块可操作以通过同时触发由多个UAV启动飞行计划来启动飞行操作。 此外，本地控制模块监视前端和后端以及通信通道，并且当信道丢失时，以安全模式操作UAV。
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4.发明申请CONTROLLING UNMANNED AERIAL VEHICLES AS A FLOCK TO SYNCHRONIZE FLIGHT IN AERIAL DISPLAYS 有权控制无人驾驶的航空器作为同步飞行器在航空展示中的作用公开(公告)号：US20140249693A1
公开(公告)日：2014-09-04
申请号：US13768823
申请日：2013-02-15
Applicant: DISNEY ENTERPRISES, INC.
Inventor： James Alexander Stark , Clifford Wong , Robert Scott Trowbridge
CPC classification number: B64C39/024 , B64C2201/024 , B64C2201/027 , B64C2201/128 , B64C2201/143 , B64C2201/146 , B64D47/02 , G05D1/0027 , G05D1/0808 , G05D1/102 , G05D1/104 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0034 , G08G5/0039 , G08G5/0069 , G08G5/04 , G08G5/045
Abstract: A system for flock-based control of a plurality of unmanned aerial vehicles (UAVs). The system includes UAVs each including a processor executing a local control module and memory accessible by the processor for use by the local control module. The system includes a ground station system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The flight plans are stored on the UAVs, and, during flight operations, each of the local control modules independently controls the corresponding UAV to execute its flight plan without ongoing control from the fleet manager module. The fleet manager module is operable to initiate flight operations by concurrently triggering initiation of the flight plans by the multiple UAVs. Further, the local control modules monitor front and back and communication channels and, when a channel is lost, operate the UAV in a safe mode.
Abstract translation: 一种用于多个无人机（UAV）的基于群控的系统。 该系统包括各自包括执行本地控制模块的处理器和由处理器访问以由本地控制模块使用的存储器的UAV。 该系统包括具有处理器执行车队管理器模块的地面站系统以及存储针对每个无人机的不同飞行计划的存储器。 飞行计划存储在无人机上，并且在飞行操作期间，每个本地控制模块独立地控制相应的无人机以执行其飞行计划，而不需要从车队管理器模块进行控制。 车队管理器模块可操作以通过同时触发由多个UAV启动飞行计划来启动飞行操作。 此外，本地控制模块监视前端和后端以及通信通道，并且当信道丢失时，以安全模式操作UAV。
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5.发明申请CONTROLLING UNMANNED AERIAL VEHICLES AS A FLOCK TO SYNCHRONIZE FLIGHT IN AERIAL DISPLAYS 有权控制无人驾驶的航空器作为同步飞行器在航空展示中的作用公开(公告)号：US20150338855A1
公开(公告)日：2015-11-26
申请号：US14819048
申请日：2015-08-05
Applicant: DISNEY ENTERPRISES, INC.
Inventor： James Alexander Stark , Clifford Wong , Robert Scott Trowbridge
CPC classification number: B64C39/024 , B64C2201/024 , B64C2201/027 , B64C2201/128 , B64C2201/143 , B64C2201/146 , B64D47/02 , G05D1/0027 , G05D1/0808 , G05D1/102 , G05D1/104 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0034 , G08G5/0039 , G08G5/0069 , G08G5/04 , G08G5/045
Abstract: A system for flock-based control of a plurality of unmanned aerial vehicles (UAVs). The system includes UAVs each including a processor executing a local control module and memory accessible by the processor for use by the local control module. The system includes a ground station system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The flight plans are stored on the UAVs, and, during flight operations, each of the local control modules independently controls the corresponding UAV to execute its flight plan without ongoing control from the fleet manager module. The fleet manager module is operable to initiate flight operations by concurrently triggering initiation of the flight plans by the multiple UAVs. Further, the local control modules monitor front and back end communication channels and, when a channel is lost, operate the UAV in a safe mode.
Abstract translation: 一种用于多个无人机（UAV）的基于群控的系统。 该系统包括各自包括执行本地控制模块的处理器和由处理器访问以由本地控制模块使用的存储器的UAV。 该系统包括具有处理器执行车队管理器模块的地面站系统以及存储针对每个无人机的不同飞行计划的存储器。 飞行计划存储在无人机上，并且在飞行操作期间，每个本地控制模块独立地控制相应的无人机以执行其飞行计划，而不需要从车队管理器模块进行控制。 车队管理器模块可操作以通过同时触发由多个UAV启动飞行计划来启动飞行操作。 此外，本地控制模块监视前端和后端通信信道，并且当信道丢失时，以安全模式操作UAV。
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Patent Agency Ranking
6.发明授权Aerial display system with marionettes articulated and supported by airborne devices 有权航空显示系统，由机载装置铰接和支持的牵线木偶公开(公告)号：US08876571B2
公开(公告)日：2014-11-04
申请号：US13768905
申请日：2013-02-15
Applicant: Disney Enterprises, Inc.
Inventor： Robert Scott Trowbridge , James Alexander Stark , Clifford Wong
CPC classification number: A63J19/00 , A63H27/12 , B64C39/024 , B64C2201/12
Abstract: A system for performing an aerial display. The system includes a plurality of unmanned aerial vehicles (UAVs) and a ground control system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The system further includes a marionette with a body and articulatable appendages attached to the body. The body and appendages are supported with tether lines extending between the marionette and the UAVs. Then, during a display time period, the UAVs concurrently execute the flight plans to position and articulate the marionette within a display air space. In some embodiments, the UAVs each is a multicopter, and each of the multicopters includes a local controller operating to move the multicopter through a series of way points defined by the flight plan associated with the multicopter.
Abstract translation: 用于执行空中显示的系统。 该系统包括多个无人驾驶飞行器（UAV）和具有执行车队管理器模块的处理器的地面控制系统以及存储针对每个无人机的不同飞行计划的存储器。 该系统还包括具有身体的牵线木偶和附接到身体的可铰接附件。 身体和附肢由牵线木偶和无人机之间延伸的系绳支撑。 然后，在显示时间段期间，UAV同时执行飞行计划，以在显示器空间内定位和表达牵线木偶。 在一些实施例中，无人机每个都是多机，并且每个多机器包括本地控制器，其操作以通过与多机器相关联的飞行计划定义的一系列路段来移动多机。
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公开(公告)号：US20140236388A1
公开(公告)日：2014-08-21
申请号：US13769007
申请日：2013-02-15
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Clifford Wong , James Alexander Stark , Robert Scott Trowbridge
CPC classification number: B64D47/02 , B64C19/00 , B64C27/08 , B64C39/02 , B64C39/024 , B64C2201/027 , B64C2201/128 , B64C2201/146 , F21V1/16 , F21V1/22 , F21V11/00 , F21V21/15 , F21V33/00 , F21W2121/00 , F21Y2113/10 , F21Y2115/10 , G05D1/104 , G09F21/10 , G09G5/02 , G09G5/12 , G09G2320/062 , G09G2320/0666 , G09G2380/12 , H05B33/0857
Abstract: A system for performing an aerial display. The system includes a plurality of UAVs each including a propulsion device and a display payload, and the system includes a ground station system with a processor executing a fleet manager module and memory storing a different flight plan and a set of display controls for the UAVs. Then, wherein, during a display time period, the UAVs concurrently execute the flight plans through operation of the propulsion devices and operate the display payloads based on the display controls. The display payloads each include a lighting assembly and a light controller. The output light is one of a two or more colored light streams, and each of the display payloads further may include a light diffuser with the output light being directed onto a surface of the light diffuser. The light diffuser may include a light diffusing screen extending about the lighting assembly.
Abstract translation: 用于执行空中显示的系统。 该系统包括多个UAV，每个UAV包括推进装置和显示有效载荷，并且该系统包括地面站系统，其具有执行车队管理器模块的处理器以及存储针对UAV的不同飞行计划和一组显示控制的存储器。 然后，在显示时间段期间，UAV通过操作推进装置同时执行飞行计划，并根据显示控制来操作显示有效载荷。 显示器有效载荷各自包括照明组件和灯控制器。 输出光是两个或更多个彩色光流中的一个，并且每个显示有效载荷还可以包括光扩散器，其中输出光被引导到光扩散器的表面上。 光扩散器可以包括围绕照明组件延伸的光漫射屏。
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8.发明申请AERIAL DISPLAY SYSTEM WITH MARIONETTES ARTICULATED AND SUPPORTED BY AIRBORNE DEVICES 有权由AIRBORNE设备制定和支持的MARIONETTE的航空显示系统公开(公告)号：US20140231590A1
公开(公告)日：2014-08-21
申请号：US13768905
申请日：2013-02-15
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Robert Scott Trowbridge , James Alexander Stark , Clifford Wong
IPC: B64C19/00
CPC classification number: A63J19/00 , A63H27/12 , B64C39/024 , B64C2201/12
Abstract: A system for performing an aerial display. The system includes a plurality of unmanned aerial vehicles (UAVs) and a ground control system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The system further includes a marionette with a body and articulatable appendages attached to the body. The body and appendages are supported with tether lines extending between the marionette and the UAVs. Then, during a display time period, the UAVs concurrently execute the flight plans to position and articulate the marionette within a display air space. In some embodiments, the UAVs each is a multicopter, and each of the multicopters includes a local controller operating to move the multicopter through a series of way points defined by the flight plan associated with the multicopter.
Abstract translation: 用于执行空中显示的系统。 该系统包括多个无人驾驶飞行器（UAV）和具有执行车队管理器模块的处理器的地面控制系统以及存储针对每个无人机的不同飞行计划的存储器。 该系统还包括具有身体的牵线木偶和附接到身体的可铰接附件。 身体和附肢由牵线木偶和无人机之间延伸的系绳支撑。 然后，在显示时间段期间，UAV同时执行飞行计划，以在显示器空间内定位和表达牵线木偶。 在一些实施例中，无人机每个都是多机，并且每个多机器包括本地控制器，其操作以通过与多机器相关联的飞行计划定义的一系列路段来移动多机。
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公开(公告)号：US09809306B2
公开(公告)日：2017-11-07
申请号：US14819048
申请日：2015-08-05
Applicant: DISNEY ENTERPRISES, INC.
Inventor： James Alexander Stark , Clifford Wong , Robert Scott Trowbridge
CPC classification number: B64C39/024 , B64C2201/024 , B64C2201/027 , B64C2201/128 , B64C2201/143 , B64C2201/146 , B64D47/02 , G05D1/0027 , G05D1/0808 , G05D1/102 , G05D1/104 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0034 , G08G5/0039 , G08G5/0069 , G08G5/04 , G08G5/045
Abstract: A system for flock-based control of a plurality of unmanned aerial vehicles (UAVs). The system includes UAVs each including a processor executing a local control module and memory accessible by the processor for use by the local control module. The system includes a ground station system with a processor executing a fleet manager module and with memory storing a different flight plan for each of the UAVs. The flight plans are stored on the UAVs, and, during flight operations, each of the local control modules independently controls the corresponding UAV to execute its flight plan without ongoing control from the fleet manager module. The fleet manager module is operable to initiate flight operations by concurrently triggering initiation of the flight plans by the multiple UAVs. Further, the local control modules monitor front and back end communication channels and, when a channel is lost, operate the UAV in a safe mode.
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公开(公告)号：US09169030B2
公开(公告)日：2015-10-27
申请号：US14481441
申请日：2014-09-09
Applicant: DISNEY ENTERPRISES, INC.
Inventor： Clifford Wong , James Alexander Stark , Robert Scott Trowbridge
CPC classification number: B64D47/02 , B64C19/00 , B64C27/08 , B64C39/02 , B64C39/024 , B64C2201/027 , B64C2201/128 , B64C2201/146 , F21V1/16 , F21V1/22 , F21V11/00 , F21V21/15 , F21V33/00 , F21W2121/00 , F21Y2113/10 , F21Y2115/10 , G05D1/104 , G09F21/10 , G09G5/02 , G09G5/12 , G09G2320/062 , G09G2320/0666 , G09G2380/12 , H05B33/0857
Abstract: A system for performing an aerial display. The system includes a plurality of UAVs each including a propulsion device and a display payload, and the system includes a ground station system with a processor executing a fleet manager module and memory storing a different flight plan and a set of display controls for the UAVs. Then, wherein, during a display time period, the UAVs concurrently execute the flight plans through operation of the propulsion devices and operate the display payloads based on the display controls. The display payloads each include a lighting assembly and a light controller. The output light is one of a two or more colored light streams, and each of the display payloads further may include a light diffuser with the output light being directed onto a surface of the light diffuser. The light diffuser may include a light diffusing screen extending about the lighting assembly.
Abstract translation: 用于执行空中显示的系统。 该系统包括多个UAV，每个UAV包括推进装置和显示有效载荷，并且该系统包括地面站系统，其具有执行车队管理器模块的处理器以及存储针对UAV的不同飞行计划和一组显示控制的存储器。 然后，在显示时间段期间，UAV通过操作推进装置同时执行飞行计划，并根据显示控制来操作显示有效载荷。 显示器有效载荷各自包括照明组件和灯控制器。 输出光是两个或更多个彩色光流中的一个，并且每个显示有效载荷还可以包括光扩散器，其中输出光被引导到光扩散器的表面上。 光扩散器可以包括围绕照明组件延伸的光漫射屏。
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