U.S. patent application number 16/121441 was filed with the patent office on 2019-03-14 for proximity based noise and chat.
The applicant listed for this patent is SONY INTERACTIVE ENTERTAINMENT INC.. Invention is credited to Dennis Dale Castleman, Michael Taylor.
Application Number | 20190079722 16/121441 |
Document ID | / |
Family ID | 61758772 |
Filed Date | 2019-03-14 |
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United States Patent
Application |
20190079722 |
Kind Code |
A1 |
Taylor; Michael ; et
al. |
March 14, 2019 |
Proximity Based Noise and Chat
Abstract
Disclosed are systems, methods, and non-transitory
computer-readable storage media for altering and combining real and
simulated audio streams. For example, a system can determine a
location of a first unmanned aerial vehicle (UAV). The system can
then determine a location of an object and can receive an audio
stream associated with the object. The system can then determine a
distance between the location of the first UAV and the location of
the object. The system can adjust the audio stream volume according
to the distance. The system can then send the audio stream to a
listener.
Inventors: |
Taylor; Michael; (San Mateo,
CA) ; Castleman; Dennis Dale; (Fremont, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SONY INTERACTIVE ENTERTAINMENT INC. |
Tokyo |
|
JP |
|
|
Family ID: |
61758772 |
Appl. No.: |
16/121441 |
Filed: |
September 4, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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15394313 |
Dec 29, 2016 |
10067736 |
|
|
16121441 |
|
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|
|
62402721 |
Sep 30, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G06F 3/165 20130101 |
International
Class: |
G06F 3/16 20060101
G06F003/16 |
Claims
1. A method for modifying audio streams, the method comprising:
determining a physical location of a first unmanned aerial vehicle
(UAV) within an environment, wherein the physical location of the
first UAV is determined by one or more sensors monitoring the
environment; receiving an audio stream associated with a simulated
object in the environment; identifying that an intermediary object
is located between the physical location of the first UAV and a
location of the simulated object within the environment; and
processing the audio stream before transmitting to an operator
output device associated with the first UAV, wherein a volume of
the audio stream is degraded based on the identified intermediary
object.
2. The method of claim 1, wherein the sensors comprise at least one
of an inertial measurement unit, a GPS receiver, a magnetometer, a
barometer, a land-speed sensor, an air-speed sensor, or a celestial
navigation sensor.
3. The method of claim 1, wherein processing the audio stream
includes applying a low pass filter to the audio stream based on
frequency degrading properties of the identified intermediary
object.
4. The method of claim 1, wherein the simulated object is
represented by a second UAV, and wherein the audio stream is
received via a microphone associated with the second UAV.
5. The method of claim 1, further comprising receiving the audio
stream from a microphone attached to the first UAV, wherein
processing the audio stream includes combining the audio stream
associated with the simulated object with the audio stream from the
microphone.
6. The method of claim 1, wherein the simulated object is part of a
grouping, and further comprising identifying the grouping of the
simulated object, wherein processing the audio stream is further
based on the identified grouping.
7. A system for modifying audio streams, the system comprising: one
or more sensors that monitor an environment and detect a physical
location of a first unmanned aerial vehicle (UAV) in the
environment; an interface that receives an audio stream associated
with a simulated object in the environment; a processor that
executes instructions stored in memory, wherein execution of the
instructions by the processor: identifies that the intermediary
object is located between the physical location of the first UAV
and a location of the simulated object within the environment; and
processes the audio stream before transmitting to an operator
output device associated with the first UAV, wherein a volume of
the audio stream is degraded based on the identified intermediary
object.
8. The system of claim 7, wherein the sensors comprise at least one
of an inertial measurement unit, a GPS receiver, a magnetometer, a
barometer, a land-speed sensor, an air-speed sensor, or a celestial
navigation sensor.
9. The system of claim 7, wherein the processors processes the
audio stream by applying a low pass filter to the audio stream
based on frequency degrading properties of the identified
intermediary object.
10. The system of claim 7, wherein the simulated object is
represented by a second UAV, and wherein the interface includes a
microphone associated with the second UAV that receives the audio
stream.
11. The system of claim 7, wherein the interface further receives
an audio stream from a microphone attached to the first UAV,
wherein the processor processes the audio stream by combining the
audio stream associated with the simulated object with the audio
stream from the microphone.
12. The system of claim 7, wherein the simulated object is part of
a grouping, and wherein the processor further identifies the
grouping of the simulated object and processes the audio stream
based on the identified grouping.
13. A non-transitory computer-readable storage medium having
embodied thereon instructions executable by a processor to perform
a method for modifying audio streams, the method comprising:
determining a physical location of a first unmanned aerial vehicle
(UAV) within an environment, wherein the physical location of the
first UAV is detected by one or more sensors monitoring the
environment; receiving an audio stream associated with a simulated
object; identifying that an intermediary object is located between
the physical location of the first UAV and a location of the
simulated object within the environment; and processing the audio
stream before transmitting to an operator output device associated
with the first UAV, wherein a volume of the audio stream is
degraded based on the identified intermediary object.
14. The non-transitory computer-readable storage medium of claim
13, wherein the sensors comprise at least one of an inertial
measurement unit, a GPS receiver, a magnetometer, a barometer, a
land-speed sensor, an air-speed sensor, or a celestial navigation
sensor.
15. The non-transitory computer-readable storage medium of claim
13, wherein processing the audio stream includes applying a low
pass filter to the audio stream based on frequency degrading
properties of the identified intermediary object.
16. The non-transitory computer-readable storage medium of claim
13, wherein the simulated object is represented by a second UAV,
and wherein receiving the audio stream comprises capturing audio
via a microphone associated with the second UAV.
17. The non-transitory computer-readable storage medium of claim
13, further comprising instructions executable to receive an audio
stream from a microphone attached to the first UAV, wherein
processing the audio stream includes combining the audio stream
associated with the simulated object with the audio stream from the
microphone.
18. The non-transitory computer-readable storage medium of claim
13, wherein the simulated object is part of a grouping, and further
comprising instructions executable to identify the grouping of the
simulated object, wherein processing the audio stream is further
the identified grouping of the simulated object.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] The present application is a continuation and claims the
priority benefit of U.S. patent application Ser. No. 15/394,313
filed Dec. 29, 2016, now U.S. Pat. No. 10,067,736, which claims the
priority benefit of U.S. patent application 62/402,721 filed Sep.
30, 2016, the disclosures of which are incorporated herein by
reference.
BACKGROUND
Field of the Invention
[0002] The present technology pertains to combining real and
simulated audio streams, and more specifically pertains to
modifying and combining audio streams based on simulated and actual
locations of simulated and real objects.
Description of the Related Art
[0003] Augmented reality has recently become popular with the
proliferation of powerful cellular phones. Games and software are
overlaying video feeds with simulated creatures, information, or
other objects. However, these simply overlays lack the immersion
that some users expect. For example, they generally only use video
which can be impressive but not completely immersive. Furthermore,
real and simulated objects rarely interact.
SUMMARY OF THE CLAIMED INVENTION
[0004] Additional features and advantages of the disclosure will be
set forth in the description which follows, and in part will be
obvious from the description, or can be learned by practice of the
herein disclosed principles. The features and advantages of the
disclosure can be realized and obtained by means of the instruments
and combinations particularly pointed out in the appended claims.
These and other features of the disclosure will become more fully
apparent from the following description and appended claims, or can
be learned by the practice of the principles set forth herein.
[0005] Disclosed are systems, methods, and non-transitory
computer-readable storage media for altering and combining real and
simulated audio streams. For example, a system can determine a
location of a first unmanned aerial vehicle (UAV). The system can
then determine a location of an object and can receive an audio
stream associated with the object. The system can then determine a
distance between the location of the first UAV and the location of
the object. The system can adjust the audio stream volume according
to the distance. The system can then send the audio stream to a
listener.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] In order to describe the manner in which the above-recited
and other advantages and features of the disclosure can be
obtained, a more particular description of the principles briefly
described above will be rendered by reference to specific
embodiments thereof which are illustrated in the appended drawings.
Understanding that these drawings depict only exemplary embodiments
of the disclosure and are not therefore to be considered to be
limiting of its scope, the principles herein are described and
explained with additional specificity and detail through the use of
the accompanying drawings in which:
[0007] FIG. 1 shows an unmanned aerial vehicle (UAV) according to
some embodiments;
[0008] FIG. 2 shows a control transmitter according to some
embodiments;
[0009] FIG. 3 shows a display according to some embodiments;
[0010] FIG. 4 shows various real and simulated objects in an
environment;
[0011] FIG. 5 shows a UAV with an array of directional microphones
according to some embodiments; and
[0012] FIG. 6A and FIG. 6B illustrate example system
embodiments.
DETAILED DESCRIPTION
[0013] Various embodiments of the disclosure are discussed in
detail below. While specific implementations are discussed, it
should be understood that this is done for illustration purposes
only. A person skilled in the relevant art will recognize that
other components and configurations may be used without parting
from the spirit and scope of the disclosure.
[0014] The disclosed technology addresses the need in the art for
modifying and combining audio streams based on simulated and actual
locations of simulated and real objects.
[0015] FIG. 1 shows unmanned aerial vehicle (UAV) 100 according to
some embodiments. UAV 100 can have one or more motors 150
configured to rotate attached propellers 155 in order to control
the position of UAV 100 in the air. UAV 100 can be configured as a
fixed wing vehicle (e.g., airplane), a rotary vehicle (e.g., a
helicopter or multirotor), or a blend of the two. For the purpose
of FIG. 1, axes 175 can assist in the description of certain
features. If UAV 100 is oriented parallel to the ground, the Z axis
can be the axis perpendicular to the ground, the X axis can
generally be the axis that passes through the bow and stern of UAV
100, and the Y axis can be the axis that pass through the port and
starboard sides of UAV 100. Axes 175 are merely provided for
convenience of the description herein.
[0016] In some embodiments, UAV 100 has main body 110 with one or
more arms 140. The proximal end of arm 140 can attach to main body
110 while the distal end of arm 140 can secure motor 150. Arms 140
can be secured to main body 110 in an "X" configuration, an "H"
configuration, a "T" configuration, or any other configuration as
appropriate. The number of motors 150 can vary, for example there
can be three motors 150 (e.g., a "tricopter"), four motors 150
(e.g., a "quadcopter"), eight motors (e.g., an "octocopter"),
etc.
[0017] In some embodiments, each motor 155 rotates (i.e., the drive
shaft of motor 155 spins) about parallel axes. For example, the
thrust provided by all propellers 155 can be in the Z direction.
Alternatively, a motor 155 can rotate about an axis that is
perpendicular (or any angle that is not parallel) to the axis of
rotation of another motor 155. For example, two motors 155 can be
oriented to provide thrust in the Z direction (e.g., to be used in
takeoff and landing) while two motors 155 can be oriented to
provide thrust in the X direction (e.g., for normal flight). In
some embodiments, UAV 100 can dynamically adjust the orientation of
one or more of its motors 150 for vectored thrust.
[0018] In some embodiments, the rotation of motors 150 can be
configured to create or minimize gyroscopic forces. For example, if
there are an even number of motors 150, then half of the motors can
be configured to rotate counter-clockwise while the other half can
be configured to rotate clockwise. Alternating the placement of
clockwise and counter-clockwise motors can increase stability and
enable UAV 100 to rotate about the z-axis by providing more power
to one set of motors 150 (e.g., those that rotate clockwise) while
providing less power to the remaining motors (e.g., those that
rotate counter-clockwise).
[0019] Motors 150 can be any combination of electric motors,
internal combustion engines, turbines, rockets, etc. In some
embodiments, a single motor 150 can drive multiple thrust
components (e.g., propellers 155) on different parts of UAV 100
using chains, cables, gear assemblies, hydraulics, tubing (e.g., to
guide an exhaust stream used for thrust), etc. to transfer the
power.
[0020] In some embodiments, motor 150 is a brushless motor and can
be connected to electronic speed controller X45. Electronic speed
controller 145 can determine the orientation of magnets attached to
a drive shaft within motor 150 and, based on the orientation, power
electromagnets within motor 150. For example, electronic speed
controller 145 can have three wires connected to motor 150, and
electronic speed controller 145 can provide three phases of power
to the electromagnets to spin the drive shaft in motor 150.
Electronic speed controller 145 can determine the orientation of
the drive shaft based on back-emf on the wires or by directly
sensing to position of the drive shaft.
[0021] Transceiver 165 can receive control signals from a control
unit (e.g., a handheld control transmitter, a server, etc.).
Transceiver 165 can receive the control signals directly from the
control unit or through a network (e.g., a satellite, cellular,
mesh, etc.). The control signals can be encrypted. In some
embodiments, the control signals include multiple channels of data
(e.g., "pitch," "yaw," "roll," "throttle," and auxiliary channels).
The channels can be encoded using pulse-width-modulation or can be
digital signals. In some embodiments, the control signals are
received over TC/IP or similar networking stack.
[0022] In some embodiments, transceiver 165 can also transmit data
to a control unit. Transceiver 165 can communicate with the control
unit using lasers, light, ultrasonic, infra-red, Bluetooth,
602.11x, or similar communication methods, including a combination
of methods. Transceiver can communicate with multiple control units
at a time.
[0023] Position sensor 135 can include an inertial measurement unit
for determining the acceleration and/or the angular rate of UAV
100, a GPS receiver for determining the geolocation and altitude of
UAV 100, a magnetometer for determining the surrounding magnetic
fields of UAV 100 (for informing the heading and orientation of UAV
100), a barometer for determining the altitude of UAV 100, etc.
Position sensor 135 can include a land-speed sensor, an air-speed
sensor, a celestial navigation sensor, etc.
[0024] UAV 100 can have one or more environmental awareness
sensors. These sensors can use sonar, LiDAR, stereoscopic imaging,
computer vision, etc. to detect obstacles and determine the nearby
environment. For example, a collision avoidance system can use
environmental awareness sensors to determine how far away an
obstacle is and, if necessary, change course.
[0025] Position sensor 135 and environmental awareness sensors can
all be one unit or a collection of units. In some embodiments, some
features of position sensor 135 and/or the environmental awareness
sensors are embedded within flight controller 130.
[0026] In some embodiments, an environmental awareness system can
take inputs from position sensors 135, environmental awareness
sensors, databases (e.g., a predefined mapping of a region) to
determine the location of UAV 100, obstacles, and pathways. In some
embodiments, this environmental awareness system is located
entirely on UAV 100, alternatively, some data processing can be
performed external to UAV 100.
[0027] Camera 105 can include an image sensor (e.g., a CCD sensor,
a CMOS sensor, etc.), a lens system, a processor, etc. The lens
system can include multiple movable lenses that can be adjusted to
manipulate the focal length and/or field of view (i.e., zoom) of
the lens system. In some embodiments, camera 105 is part of a
camera system which includes multiple cameras 105. For example, two
cameras 105 can be used for stereoscopic imaging (e.g., for first
person video, augmented reality, etc.). Another example includes
one camera 105 that is optimized for detecting hue and saturation
information and a second camera 105 that is optimized for detecting
intensity information. In some embodiments, camera 105 optimized
for low latency is used for control systems while a camera 105
optimized for quality is used for recording a video (e.g., a
cinematic video). Camera 105 can be a visual light camera, an
infrared camera, a depth camera, etc.
[0028] A gimbal and dampeners can help stabilize camera 105 and
remove erratic rotations and translations of UAV 100. For example,
a three-axis gimbal can have three stepper motors that are
positioned based on a gyroscope reading in order to prevent erratic
spinning and/or keep camera 105 level with the ground.
[0029] Video processor 125 can process a video signal from camera
105. For example video process 125 can enhance the image of the
video signal, down-sample or up-sample the resolution of the video
signal, add audio (captured by a microphone) to the video signal,
overlay information (e.g., flight data from flight controller 130
and/or position sensor), convert the signal between forms or
formats, etc.
[0030] Video transmitter 120 can receive a video signal from video
processor 125 and transmit it using an attached antenna. The
antenna can be a cloverleaf antenna or a linear antenna. In some
embodiments, video transmitter 120 uses a different frequency or
band than transceiver 165. In some embodiments, video transmitter
120 and transceiver 165 are part of a single transceiver.
[0031] Battery 170 can supply power to the components of UAV 100. A
battery elimination circuit can convert the voltage from battery
170 to a desired voltage (e.g., convert 12v from battery 170 to 5v
for flight controller 130). A battery elimination circuit can also
filter the power in order to minimize noise in the power lines
(e.g., to prevent interference in transceiver 165 and transceiver
120). Electronic speed controller 145 can contain a battery
elimination circuit. For example, battery 170 can supply 12 volts
to electronic speed controller 145 which can then provide 5 volts
to flight controller 130. In some embodiments, a power distribution
board can allow each electronic speed controller (and other
devices) to connect directly to the battery.
[0032] In some embodiments, battery 170 is a multi-cell (e.g., 2S,
3S, 4S, etc.) lithium polymer battery. Battery 170 can also be a
lithium-ion, lead-acid, nickel-cadmium, or alkaline battery. Other
battery types and variants can be used as known in the art.
Additional or alternative to battery 170, other energy sources can
be used. For example, UAV 100 can use solar panels, wireless power
transfer, a tethered power cable (e.g., from a ground station or
another UAV 100), etc. In some embodiments, the other energy source
can be utilized to charge battery 170 while in flight or on the
ground.
[0033] Battery 170 can be securely mounted to main body 110.
Alternatively, battery 170 can have a release mechanism. In some
embodiments, battery 170 can be automatically replaced. For
example, UAV 100 can land on a docking station and the docking
station can automatically remove a discharged battery 170 and
insert a charged battery 170. In some embodiments, UAV 100 can pass
through docking station and replace battery 170 without
stopping.
[0034] Battery 170 can include a temperature sensor for overload
prevention. For example, when charging, the rate of charge can be
thermally limited (the rate will decrease if the temperature
exceeds a certain threshold). Similarly, the power delivery at
electronic speed controllers 145 can be thermally
limited--providing less power when the temperature exceeds a
certain threshold. Battery 170 can include a charging and voltage
protection circuit to safely charge battery 170 and prevent its
voltage from going above or below a certain range.
[0035] UAV 100 can include a location transponder. For example, in
a racing environment, race officials can track UAV 100 using
location transponder. The actual location (e.g., X, Y, and Z) can
be tracked using triangulation of the transponder. In some
embodiments, gates or sensors in a track can determine if the
location transponder has passed by or through the sensor or
gate.
[0036] Flight controller 130 can communicate with electronic speed
controller 145, battery 170, transceiver 165, video processor 125,
position sensor 135, and/or any other component of UAV 100. In some
embodiments, flight controller 130 can receive various inputs
(including historical data) and calculate current flight
characteristics. Flight characteristics can include an actual or
predicted position, orientation, velocity, angular momentum,
acceleration, battery capacity, temperature, etc. of UAV 100.
Flight controller 130 can then take the control signals from
transceiver 165 and calculate target flight characteristics. For
example, target flight characteristics might include "rotate x
degrees" or "go to this GPS location". Flight controller 130 can
calculate response characteristics of UAV 100. Response
characteristics can include how electronic speed controller 145,
motor 150, propeller 155, etc. respond, or are expected to respond,
to control signals from flight controller 130. Response
characteristics can include an expectation for how UAV 100 as a
system will respond to control signals from flight controller 130.
For example, response characteristics can include a determination
that one motor 150 is slightly weaker than other motors.
[0037] After calculating current flight characteristics, target
flight characteristics, and response characteristics flight
controller 130 can calculate optimized control signals to achieve
the target flight characteristics. Various control systems can be
implemented during these calculations. For example a
proportional-integral-derivative (PID) can be used. In some
embodiments, an open-loop control system (i.e., one that ignores
current flight characteristics) can be used. In some embodiments,
some of the functions of flight controller 130 are performed by a
system external to UAV 100. For example, current flight
characteristics can be sent to a server that returns the optimized
control signals. Flight controller 130 can send the optimized
control signals to electronic speed controllers 145 to control UAV
100.
[0038] In some embodiments, UAV 100 has various outputs that are
not part of the flight control system. For example, UAV 100 can
have a loudspeaker for communicating with people or other UAVs 100.
Similarly, UAV 100 can have a flashlight or laser. The laser can be
used to "tag" another UAV 100.
[0039] UAV 100 can have blaster 115 for interacting with other
UAVs, the environment, or simulated objects. Blaster 115 can be a
laser, flashlight (e.g., for infrared or visible light), projectile
launcher (e.g., to send darts, balls, or other objects in the air),
etc. In some embodiments, blaster 115 is passive and merely serves
as an indicator for the positioning of a corresponding simulated
blaster that
[0040] FIG. 2 shows control transmitter 200 according to some
embodiments. Control transmitter 200 can send control signals to
transceiver 165. Control transmitter can have auxiliary switches
210, joysticks 215 and 220, and antenna 205. Joystick 215 can be
configured to send elevator and aileron control signals while
joystick 220 can be configured to send throttle and rudder control
signals (this is termed a mode 2 configuration). Alternatively,
joystick 215 can be configured to send throttle and aileron control
signals while joystick 220 can be configured to send elevator and
rudder control signals (this is termed a mode 1 configuration).
Auxiliary switches 210 can be configured to set options on control
transmitter 200 or UAV 100. In some embodiments, control
transmitter 200 receives information from a transceiver on UAV 100.
For example, it can receive some current flight characteristics
from UAV 100.
[0041] FIG. 3 shows display 300 according to some embodiments.
Display 300 can include battery 305 or another power source,
display screen 310, and receiver 315. Display 300 can receive a
video stream from transmitter 120 from UAV 100. Display 300 can be
a head-mounted unit as depicted in FIG. 3. Display 300 can be a
monitor such that multiple viewers can view a single screen. In
some embodiments, display screen 310 includes two screens, one for
each eye; these screens can have separate signals for stereoscopic
viewing. In some embodiments, receiver 315 is mounted on display
3100 (as shown in FIG. 3), alternatively, receiver 315 can be a
separate unit that is connected using a wire to display 300. In
some embodiments, display 300 is mounted on control transmitter
200.
[0042] FIG. 4 shows various real and simulated objects in
environment 400. Environment 400 can be a map of a physical
location (e.g., a park, a field, a building, a region, etc.) or a
simulated location. Environment 400 is shown in FIG. 4 with a grid
to indicate the positions of objects within environment 400.
Environment 400 can contain real objects such as: UAVs 100.sub.a,
100.sub.b, 100.sub.c, and 100.sub.d; control transmitters 200.sub.a
and 200.sub.b; obstruction 410; sensors 425.sub.a, 425.sub.b, and
425.sub.c; base station 420; etc. Environment 400 can contain
simulated objects such as sound emitters 405.sub.a and 405.sub.b as
well as obstruction 415. In some embodiments, the locations of the
real objects can be mapped into a simulated space with the
simulated objects (e.g., projecting the real objects into a
simulated space). Alternatively, the locations of the simulated
objects can be mapped into a real-space with the real objects
(e.g., projecting the simulated objects into a real space). In some
embodiments, absolute positions are unknown and only relative
positions between real and simulated objects can be calculated.
[0043] In some embodiments, a real object can represent a simulated
object. For example, a real balloon can represent the position of a
simulated dragon. Objects that have a physical presence can be
termed "real" while objects that lack a physical presence can be
termed "simulated."
[0044] Control transmitter 200.sub.a can be connected to UAV
100.sub.a while transmitter 200.sub.b can be connected to UAV
100.sub.b. An operator can operate each control transmitter 200 to
control UAV 100.
[0045] Base station 420 can be in communication with real objects
in environment 400, for example base station 420 can wirelessly
communicate (using, e.g., Bluetooth, infrared, wifi, light, etc.)
with UAV 100.sub.a and gather telemetry, send instructions, etc.
Base station can, using sensors 425.sub.a, 425.sub.b, and
425.sub.c, detect the positions of real objects in environment 400.
Position can include location, orientation, and configuration
(e.g., the shape and makeup of the object). Sensors 425.sub.a,
425.sub.b, and 425.sub.c can use visible light cameras, infrared
cameras, LIDAR, RADAR, or other similar systems to detect the
position of objects. In some embodiments, sensors 425.sub.a,
425.sub.b, and 425.sub.c detect a marker (visible or RF) on objects
to determine their position. A marker on objects can be passive or
actively powered.
[0046] In some embodiments, base station 420 receives signals from
control transmitters 200 and, after processing them if necessary,
sends control signals to UAVs 100. In some embodiments, some UAVs
are controlled by an operator (e.g., UAV 100.sub.a and 100.sub.b)
while others can be autonomously controlled (e.g., UAV 100.sub.c
and UAV 100.sub.d) by base station 420.
[0047] Base station 420 can act as an arena server and can be a
central location for data processing, control signals, video
signals, audio signals, etc. Base station 420 can keep track of
real and simulated objects. Base station 420 can simulate the
actions of simulated objects. For example, a simulated object can
be a simulated enemy fighter plane and base station 420 can have
artificial intelligence that dictates the actions of the simulated
enemy fighter plane.
[0048] Base station 420 can simulate environment 400. For example,
environment can be representative of a real location such as a park
with hills, benches, and trees. Base station 420 can determine the
topology of the park and create simulated representations of the
hills, benches, and trees (e.g., using sensors 425.sub.a,
425.sub.b, and 425.sub.c, using information from a database, etc.).
Base station 420 can simulate an environment that takes few or no
cues from the actual location of environment 400. For example, base
station 420 can simulate an outer space environment even though
environment 400 is representative of a park.
[0049] Base station 420 can simulate atmospheric and sensory
aspects of environment 400. For example, base station 420 can
render three-dimensional views of environment 420 from various
locations (e.g., at the location of UAV 100.sub.a to provide a
simulated first-person view from UAV 100.sub.a).
[0050] Base station 420 can facilitate the playing of games within
environment 400. For example, base station 420 can simulate and
facilitate games like capture the flag, racing, tag, dogfighting,
etc.
[0051] In some embodiments, base station 420 can receive multiple
audio streams (e.g., recorded at microphones associated with real
objects such as control transmitter 200.sub.a, control transmitter
200.sub.b, UAV 100.sub.a, UAV 100.sub.b, etc. Base station 420 can
generate audio streams for real and/or simulated objects. For
example, if simulated object 405.sub.b is a volcano, base station
420 can generate an audio stream of the volcano erupting and
associate the audio stream with the location of simulated object
405.sub.b. Base station 420 can then filter, alter, and recombine
the audio streams for presentation. For example, an operator that
is controlling UAV 100.sub.a with control transmitter 200.sub.a can
wear headphones (or have a speaker) connected to base station 420.
Base station 420 can generate an output audio stream using real and
simulated audio streams. This output audio stream can be associated
with the location of UAV 100.sub.a but can be sent to the
operator's headphones.
[0052] Base station 420 can determine the distance between UAV
100.sub.a and nearby sound emitters (e.g., sound sources such as
real or simulated objects). It can then combine the audio streams
to generate the output audio stream. Nearby objects (whether real
or simulated) can have their associated audio streams amplified
while far objects can have their associated audio streams weakened
(or diminished in volume). For example, an audio stream from UAV
100.sub.b can be loud while an audio stream from UAV 100.sub.d can
be softer. In some embodiments, a delay can be applied proportional
to the distance to simulate the travel time of the audio
stream.
[0053] In some embodiments, an audio stream can be occluded (or
blocked). For example, UAV 100.sub.b can be on one side of
obstruction 410 while UAV 100.sub.a can be on the other side of
obstruction 410. Because obstruction 410 is a real object, it might
occlude sound from UAV 100.sub.b such that the sound is altered
(e.g., softened or distorted) by the time it reaches UAV 100.sub.a.
Base station 420 can similarly alter an audio stream associated
with UAV 100.sub.b as it is sent to a listener associated with UAV
100.sub.a. For example, an operator at control transmitter
200.sub.b can speak into a microphone which can then send an audio
stream to base station 420. Base station 420 can determine that the
audio steam is associated with UAV 100.sub.b and that a listener
(e.g., an operator at control transmitter 200.sub.a) is associated
with UAV 100.sub.a. Base station 420 can then alter the audio
stream and send it to the listener (unless the occlusion completely
blocks the audio stream).
[0054] Objects (real and simulated) can have occlusion properties.
For example, an object might block or degrade certain frequencies.
In some embodiments, a real object has certain real occlusions
properties while base station 420 can apply simulated occlusion
properties to the object. For example, a real wall might block most
sound that passes through it but base station 420 can simulate the
wall having other properties (e.g., it might not block sound at
all).
[0055] In some embodiments, an audio stream can be reflected. For
example, when creating an output audio stream for UAV 100.sub.b,
base station 420 can combine a direct audio stream from simulated
object 405.sub.a with a reflected audio stream from simulated
object 405.sub.a as if it were reflected off obstruction 410. The
reflected audio stream can be delayed (relative to the direct audio
stream) based on the greater distance of travel. The reflected
audio stream can have a decreased volume based on the travel. The
reflected audio stream can have certain frequencies partially
absorbed based on the characteristics of obstruction 410. For
example, a cloth obstruction can absorb high frequency sounds while
an obstruction with gaps can reflect primarily high frequency
sounds. A high pass or low pass filter can simulate these
absorptive properties. In some embodiments, multiple reflected
audio streams can be generated; e.g., a reflected audio stream off
obstruction 410, and another off the ground.
[0056] In some embodiments, base station 420 can simulate a wind.
For example, if a simulated wind is moving from top right to bottom
left in FIG. 4, base station 420 can make an audio stream
associated with UAV 100.sub.d be louder to an output audio stream
for UAV 100.sub.a while an audio stream associated with UAV
100.sub.b can be softer. The simulated wind can be based on actual
wind existing in environment 400. For example, a wind-speed device
can detect the speed of the actual wind.
[0057] In some embodiments, base station 420 can simulate Doppler
shifts. For example, an audio stream associated with a (real or
simulated) object moving towards or away from a reference object
can be shifted to be higher or lower pitched based on the
motion.
[0058] In some embodiments, real obstructions are dynamically
discovered. For example, UAV 100.sub.a can send a test signal
(e.g., an ultrasonic or infrared pulse) which UAV 100.sub.b can
detect. The test signal can have multiple component signals (e.g.,
multiple frequencies). Based on the intensity and quality of the
received test signal, base station 420 can determine appropriate
alterations that can be made to emulate the occlusion. For example,
if the test signal is emitted at one frequency, but detected at a
different frequency, the frequency shift can be replicated with the
audio stream associated with UAV 100.sub.a. Other alterations to a
sound can be detected. For example, reflections (e.g., an echo),
interference, equalization (e.g., enhanced or diminished intensity
of various component frequencies), Doppler shifts, etc.
[0059] In some embodiments, various objects can be part of
groupings. The respective audio streams of objects can be active,
muted, or altered based on their groupings. For example, if objects
are organized into teams, output audio streams can include only
audio streams associated with the object's team. For example, UAV
100.sub.a and an operator of control transmitter 200.sub.a can be
on a team with UAV 100.sub.b and its associated operator of control
transmitter 200.sub.b. An audio stream associated with UAV
100.sub.b and an audio stream associated with control transmitter
200.sub.b can be combined into an output audio stream for the
operator of control transmitter 200.sub.a. If UAV 100.sub.c and UAV
100.sub.d are on a different team, their associated audio streams
can be isolated from the output audio stream for the operator of
control transmitter 200.sub.a. In some embodiments, objects can be
parented such that a "parent" can receive audio streams from its
children, but its children can only receive audio streams from the
parent (and not siblings). This can be useful if one operator is
assigned as a captain for a team of other operators.
[0060] FIG. 5 shows UAV 100.sub.c with an array of directional
microphones according to some embodiments. UAV 100.sub.c can have
an array of directional microphones (e.g., microphones
505.sub.a-505.sub.h), each with a respective recording region.
There can be any number of directional microphones (e.g., one, two,
four, eight, etc.). The directional microphones can be arranged in
a circle (e.g., they can all be coplanar); alternatively, some
microphones can be directed above and below the other microphones
for spherical coverage. Base station 420 can use position data for
objects (e.g., UAV 100.sub.f) to determine which audio streams
should be active. For example, when UAV 100.sub.f is in location 1,
the audio stream from microphone 505.sub.f can be active (e.g.,
provided to an output audio stream associated with UAV 100.sub.c).
As UAV 100.sub.f moves away from location 1, the audio stream from
microphone 505.sub.f can be gradually muted. As UAV 100.sub.f moves
into location 2, the audio stream from microphone 505.sub.c can be
gradually activated (e.g., provided to an output audio stream
associated with UAV 100.sub.c).
[0061] As an object (e.g., UAV 100.sub.f) moves "behind" a
simulated obstruction 415, the respective audio stream can be
modified accordingly. For example, even though microphone 505.sub.c
can detect sound from UAV 100.sub.f, base station 420 can determine
that simulated obstruction 415 is in between UAV 100.sub.c and UAV
100.sub.f at location 2. Base station can then decrease the volume
of the audio stream from microphone 505.sub.c or otherwise modify
the audio stream based on audio occlusion properties of simulated
obstruction 415.
[0062] In some embodiments multiple microphones 505 can be placed a
distance apart and can isolate audio streams based on the time it
takes the stream to get to the respective microphones.
[0063] It should be understood that multiple audio streams from
various sources (real or simulated) can be mapped to environment
400, modified according occluding and/or reflecting objects (real
or simulated), combined according to a reference location, and sent
to a listener (who may be at a different location than reference
location).
[0064] FIG. 6A and FIG. 6B illustrate example system embodiments.
The more appropriate embodiment will be apparent to those of
ordinary skill in the art when practicing the present technology.
Persons of ordinary skill in the art will also readily appreciate
that other system embodiments are possible.
[0065] FIG. 6A illustrates a conventional system bus computing
system architecture 600 wherein the components of the system are in
electrical communication with each other using a bus 605. Exemplary
system 600 includes a processing unit (CPU or processor) 610 and a
system bus 605 that couples various system components including the
system memory 615, such as read only memory (ROM) 670 and random
access memory (RAM) 675, to the processor 610. The system 600 can
include a cache of high-speed memory connected directly with, in
close proximity to, or integrated as part of the processor 610. The
system 600 can copy data from the memory 615 and/or the storage
device 630 to the cache 612 for quick access by the processor 610.
In this way, the cache can provide a performance boost that avoids
processor 610 delays while waiting for data. These and other
modules can control or be configured to control the processor 610
to perform various actions. Other system memory 615 may be
available for use as well. The memory 615 can include multiple
different types of memory with different performance
characteristics. The processor 610 can include any general purpose
processor and a hardware module or software module, such as module
1 637, module 7 634, and module 3 636 stored in storage device 630,
configured to control the processor 910 as well as a
special-purpose processor where software instructions are
incorporated into the actual processor design. The processor 610
may essentially be a completely self-contained computing system,
containing multiple cores or processors, a bus, memory controller,
cache, etc. A multi-core processor may be symmetric or
asymmetric.
[0066] To enable user interaction with the computing device 600, an
input device 645 can represent any number of input mechanisms, such
as a microphone for speech, a touch-sensitive screen for gesture or
graphical input, keyboard, mouse, motion input, speech and so
forth. An output device 635 can also be one or more of a number of
output mechanisms known to those of skill in the art. In some
instances, multimodal systems can enable a user to provide multiple
types of input to communicate with the computing device 600. The
communications interface 640 can generally govern and manage the
user input and system output. There is no restriction on operating
on any particular hardware arrangement and therefore the basic
features here may easily be substituted for improved hardware or
firmware arrangements as they are developed.
[0067] Storage device 630 is a non-volatile memory and can be a
hard disk or other types of computer readable media which can store
data that are accessible by a computer, such as magnetic cassettes,
flash memory cards, solid state memory devices, digital versatile
disks, cartridges, random access memories (RAMs) 675, read only
memory (ROM) 670, and hybrids thereof.
[0068] The storage device 630 can include software modules 637,
634, 636 for controlling the processor 610. Other hardware or
software modules are contemplated. The storage device 630 can be
connected to the system bus 605. In one aspect, a hardware module
that performs a particular function can include the software
component stored in a computer-readable medium in connection with
the necessary hardware components, such as the processor 610, bus
605, display 635, and so forth, to carry out the function.
[0069] FIG. 6B illustrates an example computer system 650 having a
chipset architecture that can be used in executing the described
method and generating and displaying a graphical user interface
(GUI). Computer system 650 is an example of computer hardware,
software, and firmware that can be used to implement the disclosed
technology. System 650 can include a processor 655, representative
of any number of physically and/or logically distinct resources
capable of executing software, firmware, and hardware configured to
perform identified computations. Processor 655 can communicate with
a chipset 660 that can control input to and output from processor
655. In this example, chipset 660 outputs information to output
665, such as a display, and can read and write information to
storage device 670, which can include magnetic media, and solid
state media, for example. Chipset 660 can also read data from and
write data to RAM 675. A bridge 680 for interfacing with a variety
of user interface components 685 can be provided for interfacing
with chipset 660. Such user interface components 685 can include a
keyboard, a microphone, touch detection and processing circuitry, a
pointing device, such as a mouse, and so on. In general, inputs to
system 650 can come from any of a variety of sources, machine
generated and/or human generated.
[0070] Chipset 660 can also interface with one or more
communication interfaces 690 that can have different physical
interfaces. Such communication interfaces can include interfaces
for wired and wireless local area networks, for broadband wireless
networks, as well as personal area networks. Some applications of
the methods for generating, displaying, and using the GUI disclosed
herein can include receiving ordered datasets over the physical
interface or be generated by the machine itself by processor 655
analyzing data stored in storage 670 or 675. Further, the machine
can receive inputs from a user via user interface components 685
and execute appropriate functions, such as browsing functions by
interpreting these inputs using processor 655.
[0071] It can be appreciated that example systems 600 and 650 can
have more than one processor 610 or be part of a group or cluster
of computing devices networked together to provide greater
processing capability.
[0072] For clarity of explanation, in some instances the present
technology may be presented as including individual functional
blocks including functional blocks comprising devices, device
components, steps or routines in a method embodied in software, or
combinations of hardware and software.
[0073] In some embodiments the computer-readable storage devices,
mediums, and memories can include a cable or wireless signal
containing a bit stream and the like. However, when mentioned,
non-transitory computer-readable storage media expressly exclude
media such as energy, carrier signals, electromagnetic waves, and
signals per se.
[0074] Methods according to the above-described examples can be
implemented using computer-executable instructions that are stored
or otherwise available from computer readable media. Such
instructions can comprise, for example, instructions and data which
cause or otherwise configure a general purpose computer, special
purpose computer, or special purpose processing device to perform a
certain function or group of functions. Portions of computer
resources used can be accessible over a network. The computer
executable instructions may be, for example, binaries, intermediate
format instructions such as assembly language, firmware, or source
code. Examples of computer-readable media that may be used to store
instructions, information used, and/or information created during
methods according to described examples include magnetic or optical
disks, flash memory, USB devices provided with non-volatile memory,
networked storage devices, and so on.
[0075] Devices implementing methods according to these disclosures
can comprise hardware, firmware and/or software, and can take any
of a variety of form factors. Typical examples of such form factors
include laptops, smart phones, small form factor personal
computers, personal digital assistants, rackmount devices,
standalone devices, and so on. Functionality described herein also
can be embodied in peripherals or add-in cards. Such functionality
can also be implemented on a circuit board among different chips or
different processes executing in a single device, by way of further
example.
[0076] The instructions, media for conveying such instructions,
computing resources for executing them, and other structures for
supporting such computing resources are means for providing the
functions described in these disclosures.
[0077] Although a variety of examples and other information was
used to explain aspects within the scope of the appended claims, no
limitation of the claims should be implied based on particular
features or arrangements in such examples, as one of ordinary skill
would be able to use these examples to derive a wide variety of
implementations. Further and although some subject matter may have
been described in language specific to examples of structural
features and/or method steps, it is to be understood that the
subject matter defined in the appended claims is not necessarily
limited to these described features or acts. For example, such
functionality can be distributed differently or performed in
components other than those identified herein. Rather, the
described features and steps are disclosed as examples of
components of systems and methods within the scope of the appended
claims. Moreover, claim language reciting "at least one of" a set
indicates that one member of the set or multiple members of the set
satisfy the claim.
* * * * *