U.S. patent application number 16/380977 was filed with the patent office on 2020-01-02 for system and method for integrated real and virtual game play for multiple remotely-controlled aircraft.
The applicant listed for this patent is QFO Labs, Inc.. Invention is credited to John P. Condon, James E. Fairman, Brad D. Pedersen.
Application Number | 20200001188 16/380977 |
Document ID | / |
Family ID | 59065008 |
Filed Date | 2020-01-02 |
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United States Patent
Application |
20200001188 |
Kind Code |
A1 |
Pedersen; Brad D. ; et
al. |
January 2, 2020 |
SYSTEM AND METHOD FOR INTEGRATED REAL AND VIRTUAL GAME PLAY FOR
MULTIPLE REMOTELY-CONTROLLED AIRCRAFT
Abstract
Gaming systems and methods facilitate integrated real and
virtual game play among multiple remote control objects, including
multiple remotely-controlled aircraft, within a locally-defined,
three-dimensional game space using gaming "apps" (i.e.,
applications) running on one or more mobile devices, such as
tablets or smartphones, and/or a central game controller. The
systems and methods permit game play among multiple
remotely-controlled aircraft within the game space. Game play may
be controlled and/or displayed by a gaming app running on one or
more mobile devices and/or a central game controller that keeps
track of multiple craft locations and orientations with reference
to a locally-defined coordinate frame of reference associated with
the game space. The gaming app running on one or more mobile
devices and/or central game controller also determine game play
among the various craft and objects within the game space in
accordance with the rules and parameters for the game being
played.
Inventors: |
Pedersen; Brad D.;
(Minneapolis, MN) ; Condon; John P.; (Minneapolis,
MN) ; Fairman; James E.; (Bloomington, MN) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
QFO Labs, Inc. |
Bloomington |
MN |
US |
|
|
Family ID: |
59065008 |
Appl. No.: |
16/380977 |
Filed: |
April 10, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15353690 |
Nov 16, 2016 |
10258888 |
|
|
16380977 |
|
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62259022 |
Nov 23, 2015 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
A63F 13/65 20140902;
A63H 2200/00 20130101; A63F 13/792 20140902; A63H 27/12 20130101;
A63F 13/92 20140902; A63H 30/04 20130101 |
International
Class: |
A63F 13/792 20060101
A63F013/792; A63H 27/00 20060101 A63H027/00; A63H 30/04 20060101
A63H030/04; A63F 13/65 20060101 A63F013/65; A63F 13/92 20060101
A63F013/92 |
Claims
1. (canceled)
2. A gaming system integrating three-dimensional real-world game
play and virtual game play, the system comprising: at least two
remote controllers; at least two remotely-controlled aircraft,
wherein each aircraft is uniquely paired with and controlled by a
corresponding one of the at least two remote controllers via a
radio-frequency (RF) communication protocol and each aircraft is
configured to determine a reference frame based on magnetic and
gravitational vectors sensed by the aircraft and a set of data
representing positional information of the aircraft relative to the
reference frame based on accelerometer and magnetometer sensors in
the aircraft, and wherein the RF communication protocol is
configured to communicate identification information corresponding
to each aircraft and remote controller and the set of data
representing positional information of each aircraft; at least two
fiducial elements placed relative to one another to define a
physical game space; and at least two gaming applications
configured to execute on a mobile computing device and communicate
via the RF communication protocol and via an Internet connection,
wherein each gaming application is uniquely associated with one of
the remote controllers and corresponding remotely-controlled
aircraft and includes: a game space system configured to generate
or receive a three-dimensional virtual game space based on the at
least two fiducial elements that define the physical game space; a
location system configured to utilize the set of data representing
positional information from each aircraft to dynamically determine
an estimated relative position and orientation of each aircraft
within the three-dimensional virtual game space; a player system
configured to communicate via the Internet to determine player
options to be applied in the three-dimensional virtual game space
for the remote-controller aircraft associated with the gaming
application; and a gaming system to determine game play associated
with an integrated real and virtual game played among at least two
remotely-controlled aircraft within the three-dimensional game
space based on the estimated relative position and orientation of
each aircraft within the three-dimensional virtual game space in
accordance with the player options and a set of rules and
parameters for the integrated real and virtual game play.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. patent
application Ser. No. 15/353,690, filed Nov. 16, 2016 by Brad D.
Pedersen et al., titled "Method and system for integrated real and
virtual game play for multiple remotely-controlled aircraft" (which
issues as U.S. Pat. No. 10,258,888 on Apr. 16, 2019), which claims
priority benefit, under 35 U.S.C. .sctn. 119(e), of U.S.
Provisional Patent Application No. 62/259,022 filed Nov. 23, 2015
by Brad D. Pedersen et al., titled "Method and system for
integrated real and virtual game play for multiple
remotely-controlled aircraft," each of which is incorporated herein
by reference in its entirety.
TECHNICAL FIELD
[0002] The invention relates generally to the fields of
heavier-than-air aeronautical vehicles that are sustained in air by
the force of a fluid such as air and remote control game play. More
particularly, the present invention relates to three-dimensional
game play among multiple remote control objects, including multiple
remotely-controlled aircraft.
BACKGROUND
[0003] Remotely-controlled aircraft are becoming increasingly more
popular and sophisticated. While larger remotely-controlled
aircraft such as military and civilian drones have been in use for
only the last two decades, smaller remotely-controlled flying craft
built and flown by hobbyists have been around for much longer.
Generally, remotely-controlled aircraft are either fixed wing, like
a plane, or hovering, like a helicopter or quadcopter.
[0004] Game play among remote control objects traditionally
involved racing or driving games for remote control model cars or
boats. The game players each have a remote controller that
communicates with a remote control model craft using relatively
simple control commands (e.g., turn left/right, go faster/slower,
go forward/backward). Control of the craft during game play was
originally based on the player's visual observation of the craft in
a two-dimensional game space (e.g., a surface or area such as a
track, a terrain, a pond, or a pool). The addition of a camera and
display screen augmented the remote control game play to provide a
virtual game play option. Examples of these two-dimensional remote
control game play systems that included virtual game play
capabilities include U.S. Pat. Nos. 6,293,798, 6,752,720,
7,704,119, and 8,216,036, and U.S. Pub. Nos.2006/0223637 and
2009/0005167. An example of a two-dimensional remote control game
play systems with video displays on each remote controller for
controlling tanks that fired infrared or laser offensive signals
from tanks that can be tracked by pressure sensors arrayed under a
two-dimensional play space mat is shown in U.S. Pat. No. 7,704,119.
A more recent version of this kind of two-dimensional remote
control tank battle game in which the controllers can be
implemented using a mobile device such as a tablet or smartphone is
shown in U.S. Pub. No. 2013/0190090. Additional improvements to
remote control model car gaming systems have added sensor and
imaging features to enhance the control of a remote control vehicle
and maintain parity between real and virtual representations of
physical gaming components in a generally two-dimensional game
space, as shown, for example, in U.S. Pat. Nos. 8,353,737,
8,845,385, and 8,882,560.
[0005] Other forms of real and virtual generally two-dimensional
game space and game play have been developed. One segment of these
gaming arrangements has focused on what is referred to as the "Toys
to Life" market. Examples of these integrated real and virtual
gaming arrangements using a game board and/or objects with
radio-frequency identification (RFID) tags are shown, for example,
in U.S. Pat. Nos. 8,475,275, 8,753,195, and 8,821,820. Another
segment of these real and virtual gaming arrangements has focused
on real-world players with virtual games that use the real-world
locations of the players, as shown, for example, in U.S. Pat. No.
9,033,803 and U.S. Pub. Nos. 2003/0177187, 2007/0190494, and
2008/0146338.
[0006] More recently, remote control game play has been expanded to
incorporate remotely-controlled aircraft into the game play. In
order to support remote control game play in a three-dimensional
game space with remotely-controlled aircraft, as well as other
vehicles, devices and accessories used as part of game play, more
sophisticated control systems are required than those developed for
two-dimensional game space and game play arrangements.
[0007] The presentation of images associated with real objects and
craft from a three-dimensional environment on a player's tablet or
smartphone is one challenge facing the development of
three-dimensional game play among multiple remotely-controlled
aircraft. U.S. Pub. No. 2014/0051513 describes a system for
detecting, controlling, and displaying objects using a mobile
device, such as a tablet or smartphone. The system uses a camera in
the mobile device and tracks the objects in such a way as to
display a virtual representation of the object as a different image
on a display screen of the mobile device. U.S. Pub. No.
2010/0009735 describes a video game system for a
remotely-controlled aircraft in which a craft includes an inertial
sensing unit that senses the attitude of the craft and the
displayed images on a mobile device is adjusted in response. U.S.
Pub. No. 2010/00178966 describes a video game system for a
remotely-controlled aircraft in which a mobile device uses video
analysis of on-board camera images and flashing LED lights on the
craft to determine whether or not there has been a hit in the
virtual video game. U.S. Pat. No. 8,818,083 describes a similar
system that uses strips of different colors mounted on a remotely
controlled drone equipped with forward-facing cameras to identify
and confirm whether shots made in virtual game environment are
hitting or missing their target. These systems, however, determine
orientation, and not distance, relative to the other craft, and not
relative to a shared local coordinate system. Challenges remain on
how to make the user interface and gaming experience fun and
engaging for three-dimensional game play among multiple
remotely-controlled aircraft.
[0008] Another significant challenge is the problem of locating and
tracking with proper resolution the positions and orientations of
multiple craft and objects within a three-dimensional gaming space.
U.S. Pub. No. 2009/0284553 was one of the first to recognize the
need for dynamic position sensing of a remotely-controlled aircraft
in a three-dimensional gaming space.
[0009] Global Positioning Satellite (GPS) transceivers can track
craft and objects outdoors, however, these kinds of GPS solutions
may not provide the proper resolution of position and orientation
required for three-dimensional gaming among multiple craft and
players. In addition, solutions relying on GPS will not work if the
three-dimensional gaming space is indoors. Indoor tracking of
drones and other flying craft has been accomplished by external
motion capture and imaging analysis systems, for example, to
continuously track the position of the craft within a predefined
indoor space. Generally, this kind of external localization system
requires sophisticated equipment with multiple cameras, computer
systems and advanced software programs.
[0010] Simultaneous location and mapping (SLAM) techniques based on
on-board video and sensor information are used to allow individual
automated craft or robots to acquire an understanding of a
surrounding and navigate in response without the need for an
external localization system to track and communicate positional
information to the craft of robot. While SLAM techniques are
particularly useful for autonomous control of swarms of drones or
robots, these techniques are generally less relevant to real and
virtual gaming environments involving player remote control of a
craft.
[0011] U.S. Pub. No. 2009/0284553 recognized the need for dynamic
position sensing of a remotely-controlled aircraft in a
three-dimensional gaming space, and described the use of GPS and an
inertial unit and on-board cameras in the craft to determine actual
Earth coordinates and a local frame of reference. Together with GPS
and dead reckoning based on a starting point of the craft,
positional information of the aircraft was determined and then used
to download corresponding aerial images to define a game space in
which a virtual game may be played. Unfortunately, the techniques
presented in this published application for obtaining the
positional information information and the appropriate resolution
of that information were not well suited for smaller scale or
indoor three-dimensional game play, and there was no ability to
coordinate the positional information to determine the positions
and actions of other remotely-controlled craft within the
three-dimensional game space.
[0012] U.S. Pat. Nos. 9,004,973 and 9,011,250 describe a
three-dimensional remotely-controlled aircraft gaming system that
can selectively assign different players to different teams, and in
various embodiments uses two different communication systems, such
as infrared (IR) and radio frequency (RF) communications, to
implement remote control of the aircraft by the players and
coordinate the three-dimensional game play system.
[0013] All patents and patent application publications referenced
in this entire specification are incorporated herein by
reference.
[0014] In spite of these advances, there remains a need for
improvements to systems and methods that can enhance
three-dimensional game play among multiple remote control objects,
including multiple remotely-controlled aircraft.
SUMMARY
[0015] Systems and methods are described for facilitating
integrated real and virtual game play among multiple remote control
objects, including multiple remotely-controlled aircraft, within a
locally-defined, three-dimensional game space using gaming "apps"
(i.e., applications) running on one or more mobile devices, such as
tablets or smartphones, and/or a central game controller. The
systems and methods permit game play among multiple
remotely-controlled aircraft within the game space.
[0016] In various embodiments, a player operates a
remotely-controlled aircraft in the game space using a uniquely
paired remote controller that may be a handheld controller or an
app running on a mobile device. Game play may be controlled and/or
displayed by a gaming app running on one or more mobile devices
and/or a central game controller that keeps track of multiple craft
locations and orientations with reference to a locally-defined
coordinate frame of reference associated with the game space. The
gaming app running on one or more mobile devices and/or central
game controller also determine game play among the various craft
and objects within the game space in accordance with the rules and
parameters for the game being played.
[0017] In accordance with various embodiments, a variety of games
may be supported by the systems and methods described, such as
those with first-person shooter, racing, obstacles, challenge,
and/or building actions. At least some of the gaming actions may
occur within the three-dimensional real world game space and are
associated with a remotely-controlled aircraft, whereas others may
be represented in the virtual gaming environment running on the
mobile device. In some embodiments, the gaming app is configured to
permit players to earn and/or purchase various enhancements or
options within a given game that may affect the parameters
controlling game play, such as duration, cost, strength, or
distance of various offensive and defensive actions.
[0018] In some embodiments, the positional information associated
with remotely-controlled aircraft operating within the game space
are determined with reference to at least three fiducial elements
that are used by the gaming app and/or game controller to locally
define the three-dimensional game space, and by the craft to
determine data related to positional and attitude information
within a frame of reference defined by the game space that is
communicated to the gaming app and/or game controller.
[0019] In various embodiments, a combination of passive and active
fiducial elements to define a relatively smaller game space in
which sensor information from the craft can be integrated with
external information about this game space. This integrated
information is provided to a gaming controller preferably
integrated with a mobile device gaming app which manages game play
and communicates among the various players and craft. The use of a
gaming app on a mobile device as the main interface and controller
for the 3-D game play opens up the potential for in-app purchases
of enhancements and options that can provide an ongoing revenue
stream over the life of the product.
[0020] The above summary is not intended to describe each
illustrated embodiment or every implementation of the subject
matter hereof. The figures and the detailed description that follow
more particularly exemplify various embodiments.
BRIEF DESCRIPTION OF THE DRAWINGS
[0021] FIG. 1 is a block diagram of a three-dimensional gaming
system for multiple remotely-controlled aircraft, according to an
embodiment.
[0022] FIG. 2 is a diagram of a portion of gaming system for
multiple remotely-controlled aircraft utilizing a computing device
running an application, according to an embodiment.
[0023] FIG. 3A is a diagram of a real-world interaction of multiple
remotely-controlled aircraft within a game space, according to an
embodiment
[0024] FIG. 3B is an illustration of an application that integrates
the real-world interaction of multiple remotely-controlled aircraft
of FIG. 3A with a virtual world of the application, according to an
embodiment.
[0025] FIG. 4 is a diagram of a portion of a gaming system for
multiple remotely-controlled aircraft within a game space,
according to an embodiment.
[0026] FIG. 5 is a block diagram of a game space recognition
subsystem for multiple remotely-controlled aircraft, according to
an embodiment.
[0027] FIG. 6 is a block diagram of a locating engine 601 that
determines position, orientation and location information of
multiple remotely-controlled aircraft, according to an
embodiment.
[0028] FIGS. 7A and 7B, together, are an exemplary set 701 of
prediction and update algorithms and formulas that are used in some
embodiments of locating engine 601.
[0029] FIG. 8 is a diagram of the fiducial marker mat 502 deployed
in a game space, according to an embodiment.
[0030] FIG. 9 is a diagram of a plurality of fiducial marker ribbon
strips for a game space for a gaming system for multiple
remotely-controlled aircraft, according to an embodiment.
[0031] FIG. 10 is a diagram of a fiducial beacon grid for a game
space for a gaming system for multiple remotely-controlled
aircraft, according to an embodiment.
[0032] FIG. 11 is a diagram of a game space space having an
out-of-bounds area for a gaming system for multiple
remotely-controlled aircraft, according to an embodiment.
[0033] FIG. 12 is a flowchart of a method of integrating
three-dimensional game play among remotely-controlled craft on a
gaming application for a mobile device, according to an
embodiment.
[0034] While various embodiments are amenable to various
modifications and alternative forms, specifics thereof have been
shown by way of example in the drawings and will be described in
detail. It should be understood, however, that the intention is not
to limit the claimed inventions to the particular embodiments
described. On the contrary, the intention is to cover all
modifications, equivalents, and alternatives falling within the
spirit and scope of the subject matter as defined by the
claims.
DETAILED DESCRIPTION OF THE DRAWINGS
[0035] Referring to FIG. 1, a block diagram of a gaming system 100
for multiple remotely-controlled aircraft is depicted. Gaming
system 100 generally comprises a first craft 102a configured to be
controlled by a first controller 104a, a second craft 102b
configured to be controlled by a second controller 104b, a mobile
device 106 running a gaming app, and a game space recognition
subsystem 108. Generally, gaming system 100 allows for enhanced
game play between first craft 102a and second craft 102b using
integrated virtual components on mobile device 106.
[0036] In some embodiments, craft 102 is a hovering flying craft
adapted to be selectively and unique pair with and controlled by a
handheld remote controller, such as controller 104. In one
embodiment, a hovering flying craft 102 has a frame assembly that
includes a plurality of arms extending from a center body with an
electric motor and corresponding propeller on each arm. The frame
assembly carries a battery together with electronics, sensors and
communication components. These may include one or more gyroscopes,
accelerometers, magnetometers, altimeters, ultrasounds sensors,
downward facing camera and/or optical flow sensors, forward-facing
camera and/or LIDAR sensors, processors, and/or transceivers.
[0037] In some embodiments, controller 104 is a single-handed
controller to be used by a user for controlling a craft 102. In one
embodiment, controller 104 has a controller body configured to be
handheld and having an angled shape and including a flat top
surface for orientation reference of the controller, a trigger
mechanism projecting from the controller body adapted to interface
with a finger of the user, a top hat projecting from the flat top
surface adapted to interface with a thumb of the user, and a body,
processor, electronics and communication components housed within
the controller body.
[0038] For a more detailed description of aspects of one embodiment
of craft 102 and controller 104, reference is made to U.S. Pat. No.
9,004,973, by John Paul Condon et al., titled "Remote-Control
Flying Copter and Method," the detailed specification and figures
of which are hereby incorporated by reference.
[0039] While embodiments of the present invention are described
with respect to a smaller, hovering remotely-controlled aircraft in
wireless communication with a paired wireless controller configured
for single-handed tilt-control operations, it will be understood
that other embodiments of the communications system for game play
in accordance with the present invention may include other types of
remotely-controlled flying craft, such as planes or helicopters, or
other non-flying remote-control craft, such as cars or boats, and
may also include other types of remote controllers, such as a
conventional dual joystick controller or a tilt-control based on an
"app" (i.e., an application) running on a mobile device or a
software programming running on a laptop or desktop computer, as
will be described.
[0040] In an embodiment, second craft 102b is substantially similar
to first craft 102a. In such embodiments, second controller 104 is
substantially similar to first controller 104a and is configured to
control second craft 102b. In other embodiments, second craft 102b
comprises a flying craft that is a different type than first craft
102a. In embodiments, multiple types of flying craft can be used in
the same game space.
[0041] Device 106 is configured to execute a gaming application. In
an embodiment, device 106 comprises a smartphone, tablet, laptop
computer, desktop computer, or other computing device. For example,
device 106 can comprise a display, memory, and a processor
configured to present a gaming application on the display. In
embodiments, device 106 comprises communication or network
interface modules for interfacing to other components of gaming
system 100. Typically, device 106 is mobile to allow players to set
up a game space in nearly any environment or space, such as an
outdoor space like a field or parking lot, or an indoor space like
a gymnasium or open room. However, device 106 can also be
stationary instead of mobile, such that players can bring their
craft to a preexisting game space defined proximate the device
106.
[0042] In some embodiments, device 106 can further be configured by
the player to selectively control one of craft 102a or craft 102b
such that the functionality of either controller 104a or controller
104b is integrated into device 106. In other embodiments, device
106 can be integrated with game space recognition subsystem 108
such that the functionality of device 106 and game space
recognition subsystem 108 are integrated into one device.
[0043] Game space recognition subsystem 108 is configured to
determine a relative position and orientation of first craft 102a
and second craft 102b within a three-dimensional game space. In an
embodiment, game space recognition subsystem 108 comprises a
plurality of fiducial elements, a mapping engine, and a locating
engine, as will be described.
[0044] Referring to FIG. 2, a diagram of a portion of gaming system
100 for multiple remotely-controlled aircraft utilizing computing
device 106 is depicted, according to an embodiment. As shown,
gaming system 100 partially comprises first craft 102a, first
controller 104a, and device 106.
[0045] Device 106 comprises computing hardware and software
configured to execute application 110. In other embodiments, device
106 further comprises computing hardware and software to store
application 110. Application 110 generally comprises software
configured for game-based interaction with first craft 102a,
including display of first craft 102a relative to the executed
game. Application 110 can include a relative location in a
two-dimensional application display space that approximates the
location of first craft 102a in the three-dimensional game space
space. For example, if first craft 102a is in the northeast corner
of the game space space, application 110 can depict first craft
102a as being in the upper right corner of the application display
space. Likewise, if first craft 102a is in the southwest corner of
the game space space, application 110 can depict first craft 102a
as being in the lower left corner of the application display
space.
[0046] Application 110 can further include gaming elements relative
to the game being played, such as heath zones, danger zones, or
safe or "hide-able" zones. For example, referring to FIG. 3A, a
diagram of real-world interaction of multiple remotely-controlled
aircraft within a game space 200 is depicted, according to an
embodiment. As depicted, first craft 102a and second craft 102b are
positioned or hovering within game space 200. Game space 200
comprises a three-dimensional gaming area in which first craft 102a
and second craft 102b can move around in X, Y, and Z axes. In an
embodiment, first craft 102a and second craft 102b are controlled
within game space 200 by controller 104a and second controller
104b, respectively (not shown). In embodiments of game play,
leaving the game space 200 may be considered entering a restricted
or hidden zone, and may be done with or without a penalty. In other
embodiments, sensors are positioned within game space 200 to
restrict the ability of first craft 102a and second craft 102b to
leave game space 200. For example, a craft touching one of the
"sides" of game space 200 might engage a sensor configured to
transmit a command to the craft that artificially weakens or
disables the flying ability of the craft.
[0047] FIG. 3B is an illustration of an application such as
application 110 that integrates the real-world interaction of first
craft 102a and second craft 102b of FIG. 3A with a virtual world of
application 110, according to an embodiment. For example,
application 110 can visually depict first craft 102a and second
craft 102b within the application display. Further, application 110
can include other visual elements that first craft 102a and second
craft 102b can interface with within application 110. For example,
as depicted, first craft 102a is positioned proximate a health zone
202. A user might recognize a health zone 202 within the virtual
environment of application 110 and physically command first craft
102a near health zone 202. In an embodiment, within the game play
of application 110, first craft 102a could gain a relative
advantage to the other craft not positioned proximate health zone
202. In embodiments, various display communication such as text 204
can visually indicate interaction with health zone 202.
[0048] In another example, second craft 102b can be positioned
proximate a hiding zone, such as virtual mountains 206. In such
embodiments, second craft 102b can be "protected" within the game
play from, for example, cannon 208. While proximate mountains 206
within application 110 as interpreted within game space 200, second
craft 102b can be safe from the "shots" fired by cannon 208. In
other embodiments, while positioned proximate mountains 206 within
application 110, second craft 102b can be safe from any "shots"
fired by first craft 102a. In embodiments, physical markers or
beacons representing the various virtual elements within
application 110 can be placed on game space 200. One skilled in the
art will readily appreciate that interplay between first craft 102a
and second craft 102b on physical game space 200 as represented
within application 110 is essentially unlimited. Any number of
games or game components can be implemented in both game space 200
and on application 110.
[0049] Referring again to FIG. 2, first craft 102a is in wireless
communication with first controller 104a over craft control channel
112. The wireless communication over craft control channel 110 can
be by any suitable protocol, such as infrared (IR), Bluetooth,
radio frequency (RF), or any similar protocol. Additionally, first
craft 102a is in wireless communication with device 106 over gaming
channel 114. Wireless communication over craft gaming channel 114
can likewise be by any suitable protocol, such as infrared (IR),
Bluetooth, radio frequency (RF), or any similar protocol. In an
embodiment, device 106 comprises both controller 104a functionality
and application 110 functionality. For ease of explanation, second
craft 102b and second controller 104b are not depicted, but may
include similar interfaces and communication schemes as first craft
102a and first controller 104a as described herein, or may include
interfaces as well communication schemes that, while not similar,
are compatible with at least the other communication schemes used
by other craft and objects in the gaming space.
[0050] Referring to FIG. 4, a diagram of a portion of a gaming
system for multiple remotely-controlled aircraft within a game
space is depicted, according to an embodiment. Game space 300
comprises a three-dimensional gaming area similar to game space 200
described with respect to FIG. 3A. In an embodiment, first craft
102a and second craft 102b are controlled within game space 200 by
controller 104a and second controller 104b (not shown),
respectively.
[0051] A plurality of fiducial beacons 302, 402, 502 are provided
to define game space 300. In various configurations and
embodiments, these fiducial beacons 302 (active), 402 (passive),
502 (smart) are used by game space recognition subsystem 108 to
locate each of the craft within game space 300, as will be
described. It will be understood that the game space 300 is bounded
and defined at least in part by the fiducial beacons such that the
game space 300 represents a finite space. Although the game space
300 may be either indoors or outdoors as will be described, the
overall volume of the game space 300 is limited and in various
embodiments may correspond to the number, size and range of the
remotely-controlled aircraft. For smaller aircraft and a smaller
number of such aircraft in play, the overall volume of game space
300 may be suitable for indoor play in an area, for example, that
could be 20 feet wide by 30 feet long by 10 feet high. With a
larger number of craft, an overall volume of game space 300 may
correspond to a typical size of a basketball court (90 feet by 50
feet) together with a height of 20 feet. For outdoor
configurations, the overall game volume may be somewhat larger and
more irregular to accommodate a variety of terrain and natural
obstacles and features, although the game volume is typically
constrained in various embodiments to both line of sight distances
and distances over which the remotely-controlled aircraft are still
reasonably visible to players positioned outside the game space
300.
[0052] Gaming controller station 304 comprises computing hardware
and software configured to execute a gaming application. In other
embodiments, game control device 304 further comprises computing
hardware and software to store the gaming application. In an
embodiment, game control device 304 is substantially similar to
device 106 of FIG. 2. As depicted, gaming controller station 304 is
communicatively coupled to first craft 102a and second craft 102b.
For ease of illustration, only the linking between first craft 102a
and gaming controller station 304 is shown in FIG. 4, but one
skilled in the art will readily understand that second craft 102b
is similarly communicatively coupled to gaming controller station
304.
[0053] In another embodiment, gaming controller station 304 further
comprises computing hardware and software configured to execute
game space recognition subsystem 108. In an embodiment, gaming
controller station 304 can be communicatively coupled to active
fiducial beacons 302 or smart fiducial beacons 502 to transmit and
receive location information.
[0054] Referring to FIG. 5, a block diagram of game space
recognition subsystem 108 is depicted, according to an embodiment.
Game space recognition subsystem 108 generally comprises a
plurality of fiducial elements 402, a mapping engine 404, and a
locating engine 406. It will be appreciated that the finite volume
of game space 300 as described above contributes to the complexity
of the determinations that must be performed by game space
recognition subsystem 108. In various embodiments, particularly
those that utilize only passive fiducial beacons 402, the game
space volume 300 is smaller to simplify the requirements that game
space recognition system 108 and mapping engine 404 must fulfill to
adequately define the game space volume in which locating engine
406 can effectively identify and locate each relevant craft in the
game space 300.
[0055] The subsystem includes various engines, each of which is
constructed, programmed, configured, or otherwise adapted, to
autonomously carry out a function or set of functions. The term
engine as used herein is defined as a real-world device, component,
or arrangement of components implemented using hardware, such as by
an application specific integrated circuit (ASIC) or
field-programmable gate array (FPGA), for example, or as a
combination of hardware and software, such as by a microprocessor
system and a set of program instructions that adapt the engine to
implement the particular functionality, which (while being
executed) transform the microprocessor system into a
special-purpose device. An engine can also be implemented as a
combination of the two, with certain functions facilitated by
hardware alone, and other functions facilitated by a combination of
hardware and software. In certain implementations, at least a
portion, and in some cases, all, of an engine can be executed on
the processor(s) of one or more computing platforms that are made
up of hardware (e.g., one or more processors, data storage devices
such as memory or drive storage, input/output facilities such as
network interface devices, video devices, keyboard, mouse or
touchscreen devices, etc.) that execute an operating system, system
programs, and application programs, while also implementing the
engine using multitasking, multithreading, distributed (e.g.,
cluster, peer-peer, cloud, etc.) processing where appropriate, or
other such techniques. Accordingly, each engine can be realized in
a variety of physically realizable configurations, and should
generally not be limited to any particular implementation
exemplified herein, unless such limitations are expressly called
out. In addition, an engine can itself be composed of more than one
sub-engines, each of which can be regarded as an engine in its own
right. Moreover, in the embodiments described herein, each of the
various engines corresponds to a defined autonomous functionality;
however, it should be understood that in other contemplated
embodiments, each functionality can be distributed to more than one
engine. Likewise, in other contemplated embodiments, multiple
defined functionalities may be implemented by a single engine that
performs those multiple functions, possibly alongside other
functions, or distributed differently among a set of engines than
specifically illustrated in the examples herein.
[0056] Fiducial elements 302, 402, 502 may each comprise a beacon,
marker, and/or other suitable component configured for mapping and
locating each of the craft within a game space. In an embodiment,
fiducial elements 402 are passive and comprise a unique identifier
readable by other components of game space recognition subsystem
108. For example, fiducial elements 402 can comprise a "fiducial
strip" having a plurality of unique markings along the strip. In
other embodiments, fiducial elements 402 can include individual
cards or placards having unique markings. A plurality of low-cost,
printed fiducials can be used for entry-level game play.
[0057] In another embodiment, fiducial elements 302 are active and
each include a transceiver configured for IR, RF-pulse,
magnetometer, or ultrasound transmission. In embodiments, other
active locating technology can also be utilized. In embodiments,
active fiducial elements 302 can include "smart" fiducials 502
having a field-of-view camera. Fiducial elements can further be a
combination of active elements 302, passive fiducial elements 402
and/or smart fiducial elements 502. In further embodiments,
fiducial elements 302, 402, 502 may includes special fiducials that
also represent game pieces like capture points, health restoring,
defensive turrets, etc.
[0058] In embodiments, fiducial elements 302, 402, 502 can be
spaced evenly or unevenly along the horizontal (X-axis) surface of
the game space. In embodiments, fiducial elements 302, 402, 502 can
be spaced evenly or unevenly along the vertical dimension (Z-axis)
of the game space. For example, fiducial elements 302, 402, 502 can
be spaced along a vertical pole placed within the game space. In
most embodiments, vertical placement of fiducial elements 302, 402,
502 is not needed. In such embodiments, an altitude sensor of the
craft provides relevant Z-axis data. Relative placement of fiducial
elements 302, 402, 502 is described in additional detail with
respect to FIGS. 8-10.
[0059] According to an embodiment, the maximum spacing between
fiducials is a trade-off between minimum craft height and camera
field of view. After calibration and assuming the height above the
ground is known, game play can be implemented with a craft
identifying only a single fiducial element continuously. In
embodiments, the size of fiducial elements can be a function of the
resolution of the camera, its field of view, or the required number
of pixels on a particular fiducial element. Accordingly, the less
information-dense the fiducial elements are, the smaller the
implementation size can be.
[0060] Mapping engine 404 is configured to map the relative
placement of the plurality of fiducial elements 302, 402, 502. In
embodiments, mapping engine 404 is configured to map, with high
certainty, the relative distance between each of the fiducial
elements 302. 402, 502. Any error in fiducial positions can result
in error in the estimated position of a craft. One skilled in the
art will appreciate that smaller, environmentally-controlled game
spaces require fewer fiducial elements. However, outdoor locations
and larger areas require a larger quantity of fiducial elements or
additional processing to determine the relative positions of
fiducial elements 302, 402, 502. In embodiments, mapping engine 404
is configured to perform a calibration sequence of fiducial
elements 302, 502.
[0061] In an embodiment of fiducial elements 302, 502 comprising
active elements and/or smart elements, mapping engine 404 is
configured to receive relative locations of fiducial elements 302,
502 as discovered by the respective elements. For example, wherein
active fiducial elements 302, 502 comprise transmitting beacons, an
IR, RF, or ultrasound pulse can be emitted by one or more of
fiducial elements 302, 502 and received by the other fiducial
elements 302, 502 and/or game controller station 304. The time of
the pulse from transmission to reception by another fiducial
element 302, 502 (i.e., time of flight analysis) can thus be
utilized to determine a relative position between fiducial elements
302, 502. This data can be transmitted to mapping engine 404, for
example, through game controller station 304 in FIG. 4. Mapping
engine 404 can thus prepare or otherwise learn a relative map of
the position of active fiducial elements 302, 502.
[0062] In an embodiment of fiducial elements 402 comprising passive
elements, mapping engine 404 is configured to interface with image
data to identify and prepare or otherwise learn a relative map of
the position of fiducial elements. In one example, a calibration
sequence includes obtaining or taking an image including fiducial
elements 402 a mobile device, such as device 106 or game controller
station 304. The image can be transmitted or otherwise sent to
mapping engine 404. Mapping engine 404 is configured to parse or
otherwise determine the unique identifiers of fiducial elements 402
in order to prepare or otherwise learn a relative map of the
position of fiducial elements 402. In embodiments, multiple images
can be taken of the game space. For example, in a large game space,
the resolution required to determine each unique fiducial element
402 may not fit in a single picture. Multiple "zoomed-in" pictures
can be taken and stitched together using any number of photo
composition techniques in order to generate a full image comprising
all of the fiducial elements 402.
[0063] In another embodiment, as described above, craft can include
one or more downward-facing cameras. In embodiments, such a craft
is referred to here as a mapping craft during a calibration
sequence that can include utilizing the mapping craft to initiate a
mapping or reconnaissance flight to identify fiducial elements 302,
402, 502. For example, mapping craft can be automated to fly over
the game space and visually capture fiducial elements 302, 402, 502
using the downward-facing camera. In another embodiment, a user can
manual fly over the game space to visually capture fiducial
elements 302, 402, 502 using the downward-facing camera.
[0064] According to an embodiment, during calibration, at least two
and preferably three individual fiducial elements can be identified
simultaneously. Using an estimated craft height (for example, from
an altimeter) and the angle between the fiducials, a mapping can be
created between all fiducial elements. In another embodiment, if
mapping engine 404 can identify or otherwise know the size of the
fiducial elements themselves, an altimeter is not necessary.
[0065] In another embodiment, a joint calibration of fiducial
elements 302, 402 can includes using a "smart" fiducial 502. For
example, each smart fiducial 502 can include a 180 degree
field-of-view camera to "see" other fiducial elements. In an
embodiment, a map can be created with at least two smart fiducials
502 that can independently view each other fiducial. In further
embodiments, one or more smart fiducials 502 can be combined with
mapping craft as described above, and/or may be combined with time
of flight position calibration of fiducials 302 as described
above.
[0066] As mentioned, fiducial elements can be combined among
passive elements 402 and active elements 302. For example, four
"corner" fiducial elements 302 and two "encoded" strings of passive
elements 402 placed to crisscross between opposite corners can be
utilized. In a further embodiment, encoded strings can be placed to
crisscross between adjacent corners. According to an embodiment,
for example, if the corners of the game space are no more than 30
feet apart and the craft is three feet above the ground, a downward
facing camera on the craft can locate at least one string. Corner
elements can be passive or active, as described herein.
[0067] Locating engine 406 is configured to locate the position of
craft within the game space using the data from mapping engine 404
and optionally, craft data. For example, IR, RF, or ultrasound
beacons can emit a pulse that is received or returned by a
particular craft. A triangulation calculation or measurement can be
utilized in order to determine the distances and relative positions
of craft over the game space using the pulse data. In an
embodiment, at least two beacons are utilized in combination with a
sensor reading from the craft in order to triangulate the relative
position of the craft on the game space. In another embodiment, at
least three beacons are utilized to determine the relative position
of the craft on the game space. More than two beacons can be
combined to improve accuracy, but most game play does not require
it.
[0068] In other embodiments of craft having a downward facing
camera, a relative location can be determined by the data returned
from the camera. Relative craft position can be determined based on
the map of the game space created during calibration as implemented
by mapping engine 404.
[0069] In an embodiment, the craft can be launched within the game
space at a predetermined or known location relative to the fiducial
elements. This allows embodiments of locating engine 406 to
initiate with another data point for locating the craft within the
game space. See, for example, FIG. 10.
[0070] Referring to FIG. 5, a block diagram of one embodiment of
locating engine 406 is described that utilizes both sensors and/or
information obtained from onboard the craft 102, and sensors and/or
information from external references and/or sources that are
combined in a data fusion process to provide the necessary location
information consisting of both positional information of a relative
position in the game space 300 and orientation information of the
craft at the given point indicated by the positional
information.
[0071] With respect to the onboard sensors in this embodiment,
during initialization, an initial pitch and roll estimate of craft
102 is estimated using the accelerometers to observe an orientation
of craft 102 relative to gravity with the assumption that no other
accelerations are present. The craft heading or yaw can be
initialized using the magnetometer or may simply be set to zero. As
typically performed by Attitude Heading and Reference Systems
(AHRS), data from the gyroscope is continually integrated at each
time step to provide a continual estimate of the attitude of craft
102. Noise present in the gyroscope signal will accumulate over
time resulting in an increasing error and may be corrected and or
normalized using information from other sensors. The accelerometer
data is used to provide measure the orientation of the craft 102
relative to gravity. As the accelerometers measure both the effect
of gravity as well as linear accelerations, linear accelerations
will corrupt this measurement. If an estimate is available, body
accelerations can be removed. Additionally, if an estimate of the
craft orientation is available, it can be used to remove the
gravity vector from the signal and the resulting body acceleration
measurements can be used to aid the position tracking estimate.
[0072] In some embodiments, a magnetometer on the craft 102 can be
used to measure the orientation of the craft relative to earth's
magnetic field vector. Using both the magnetic and gravitational
vectors provide an absolute reference frame to estimate a
three-dimensional orientation of the craft.
[0073] In some embodiments, a dynamic measurement of a relative
altitude of craft 104 may be obtained. In various embodiments, a
barometer can be used to measure the air pressure of the craft. As
the craft rises in altitude, the air pressure drops. Using the
relationship between altitude and barometric pressure, an estimate
of the craft's altitude relative to sea level can be made.
Typically, the barometric pressure is measured while the craft is
on the ground to determine the ground's altitude above sea level
and allows for a rough estimate of the craft's height above ground.
In other embodiments, an ultrasonic range finder can be used to
measure the craft's height above ground and/or walls by
transmitting and receiving sound pulses. Typically, the ultrasonic
sensor is fixed to the craft, so the current attitude estimate for
craft 104 is used to correct the estimate. Similar to an ultrasonic
range finder, in some embodiments a time of flight sensor can use
LED or laser light to transmit a coded signal. The reflection of
the light is received and correlated to the transmitted signal to
determine the time of flight of the signal and thereby the distance
to the reflecting target.
[0074] In some embodiments, a downward-facing camera or an optical
flow sensor may be used to monitor the motion of a scene that can
include one or more fiducials, and this information can be analyzed
and processed along with knowledge of an orientation and a distance
to a fiducial, for example, which can be used to calculate a
relative position and velocity between the craft and the fiducial
and/or another know object in the scene within the gaming space
(i.e., floor or walls).
[0075] In other embodiments, an onboard camera on the craft can be
used to image visual targets such as fiducials on the ground, the
floor, or even other remotely-controlled aircraft of other remote
control object within the game space. A vector can be determined
for each visual target identified that connects a focal point of
the camera with the target as measured by a pixel location of the
target. If the location of a given target is known in the local
coordinate frame of the game space, the position of the
remotely-controlled aircraft within the three-dimensional game
space can be estimated using the intersection of these vectors. If
the size of the targets is known, their imaged size in pixels and
the camera's intrinsic properties also can be used to estimate the
distance to the target.
[0076] In various embodiments, a commanded thrust output for the
craft can be used along with a motion model of the craft to aid the
tracking system providing estimates of its future orientation,
acceleration, velocity and position.
[0077] With respect to the onboard sensors in various embodiments,
a video camera can be used with computer vision algorithms in one
or more of the smart fiducials 502 and/or the gaming controller to
determine a location of a craft in the field of view of the video
camera along with its relative orientation. Using the pixel
location of the identified craft, a vector from the camera in a
known location within the gaming space to the craft can be
estimated. Additionally, if the physical size of the craft and
camera's intrinsic imaging properties are known, the distance to
the craft can also be estimated. Using multiple cameras, multiple
vectors to each craft can be determined and their intersections
used to estimate the three-dimensional position of the
remotely-controlled aircraft within the gaming space. In other
embodiments, to aid in the computer vision tracking of the craft by
external references, the visual fiducial markers 402 may be used.
These markers are designed to be easily seen and located in the
field of view of the external reference camera. By arranging the
fiducials on the target in a known pattern, orientation and
distance tracking can be improved using this information.
[0078] A time of flight camera or a LIDAR array sensor may also be
used in various embodiments of the external references to generate
a distance per pixel to the target. It illuminates the scene with a
coded light signal and correlates the returns to determine the time
of flight of the transmitted signal. The time of flight camera or a
LIDAR array sensor can provide a superior distance measurement than
just using the imaged craft size. Examples of a LIDAR array sensor
that may be small enough and light enough to be suitable for use in
some embodiments described herein is shown in U.S. Publ. No.
2015/0293228, the contents of which are hereby incorporated by
reference.
[0079] In various embodiments, when the available sensor
measurements and information from onboard and/or external
references is obtained, this information together with the
corresponding mathematical models applicable to such information,
may be combined in a data fusion process to create estimates with
lower error rates for determining the location, position and
orientation than any single sensor. This estimate may also be
propagated through time and continually updated as new sensor
measurements are made. In various embodiments, the data fusion
process is accomplished by using an Extended Kalman Filter or its
variants (i.e. Unscented Kalman Filter). In various embodiments,
the data fusion process is performed by the locating engine
406.
[0080] FIG. 6 is a block diagram of a locating engine 601 that
determines position, orientation and location information of
multiple remotely-controlled aircraft, according to an embodiment.
In some embodiments, locating engine 601 is an implementation of
locating engine 406 described above.
[0081] FIGS. 7A and 7B, together, which are adapted from the
Wikipedia internet website entry for Kalman filter, depict an
exemplary set 701 of algorithms and formulas that may be
implemented, in some embodiments, by the locating engine 601 to
perform the data fusion process, both for initial prediction and
for subsequent update of the location information.
[0082] Referring to FIG. 8, a diagram of a fiducial marker mat 502
for a game space 500 is depicted, according to an embodiment. As
shown, game space 500 comprises a three-dimensional space in which
two or more craft can be launched and fly in accordance with a
particular game. Once fiducial marker mat 502 is deployed onto game
space 500, fiducial marker mat 502 comprises a net of visual
targets 504 evenly spaced at the respective intersections of the
netting. In an embodiment, fiducial marker mat 502 is unrolled on
the playing surface "floor." Each visual target 504 comprises a
unique identifier readable by an image-recognition device.
Accordingly, the relative distance and angle of each of the unique
visual targets 504 from other unique visual targets 504 can be
easily determined. In other embodiments, visual targets 504 are not
positioned at respective intersections of the netting, but are
otherwise spaced along the surface of fiducial marker mat 502. As
shown in FIG. 8, fiducial marker mat 502 is stretched out on the
floor of game space 500.
[0083] Referring to FIG. 9, a diagram of a plurality of fiducial
marker ribbon strips for a game space for a gaming system for
multiple remotely-controlled aircraft is depicted, according to an
embodiment. As shown, game space 600 comprises a three-dimensional
space in which two or more craft can be launched and fly in
accordance with a particular game.
[0084] A plurality of two-dimensional 1-D ribbon strips are
positioned in a fiducial grid along the playing surface "floor."
For example, first strip 602 and second strip 604 are positioned
adjacent and parallel each other, but spaced from each other along
the floor. Likewise, third strip 606 and fourth strip 608 are
positioned adjacent and parallel each other, but spaced from each
other along the floor. Third strip 606 and fourth strip 608 are
positioned orthogonal to first strip 602 and second strip 604 to
form known angles with respect to each other.
[0085] Similar to visual targets 504, each of first strip 602,
second strip 604, third strip 606, and fourth strip 608 can
comprise a plurality of a unique identifiers along the surface of
the respective strip that are readable by an image recognition
device.
[0086] Referring to FIG. 10, a diagram of a fiducial beacon grid
for a game space for a gaming system for multiple
remotely-controlled aircraft is depicted, according to an
embodiment. As shown, game space 700 comprises a three-dimensional
space in which two or more craft can be launched and fly in
accordance with a particular game.
[0087] A plurality of fiducial beacons are positioned in a fiducial
grid along the playing surface "floor." For example, fiducial
beacon 702 and fiducial beacon 704 are positioned largely within
the main area of the playing surface floor. Fiducial beacon 706 is
positioned proximate one of the corners of game space 700. In an
embodiment, a craft launch area 708 is adjacent fiducial beacon
706. By positioning launch area 708 at a site known to fiducial
beacon 706, locating the craft is easier with this initial known
data point.
[0088] Referring to FIG. 11, a diagram of a game space space having
an out-of-bounds area for a gaming system for multiple
remotely-controlled aircraft is depicted, according to an
embodiment. As shown, game space 800 comprises a three-dimensional
space in which two or more craft can be launched and fly in
accordance with a particular game.
[0089] Game space 800 generally comprises a three-dimensional upper
out-of-bounds area 802, a three-dimensional lower out-of-bounds
area 804, and a three-dimensional in-play area 806. In an
embodiment, upper out-of-bounds area 802 comprises the
three-dimensional area within game space 800 wherein the Z-axis is
above 10 feet. In other embodiments upper out-of-bounds area 802
comprises a three-dimensional area within game space 800 greater or
less than 10 feet.
[0090] In an embodiment, lower out-of-bounds area 804 comprises the
three-dimensional area within game space 800 wherein the Z-axis is
under 1 foot. In other embodiments lower out-of-bounds area 804
comprises a three-dimensional area within game space 800 greater or
less than 1 foot.
[0091] As described herein with respect to a craft touching one of
the sides of a game space, when a craft moves into an out of bounds
location, such as upper out-of-bounds area 802 or lower
out-of-bounds area 804, a command can be transmitted to the craft
that artificially weakens or disables the flying ability of the
craft. In other embodiments, other penalties or actions can be
taken with respect to the craft or game play when craft moves into
these out of bounds locations.
[0092] In operation, referring to FIG. 12, a flowchart of a method
900 of integrating three-dimensional game play among multiple
remote control aeronautical vehicles on a gaming application for a
mobile device is depicted, according to an embodiment.
[0093] At 902, a game space is prepared. In embodiments, two or
more users can physically bring two or more remote control
aeronautical vehicles to an area in which the vehicles can be flown
as a part of game play. Further, referring to FIG. 4, a gaming
controller station to coordinate the positional data of the craft
can be set up adjacent the game space. In embodiments, one or more
mobile devices implementing a gaming application are powered on,
initiated, or otherwise prepared for use. Finally, at least two
fiducial elements are deployed on the horizontal (X-axis) surface
of the game space. Fiducial elements can include both active and
passive elements and can include various placements or
configurations as described in, for example, FIGS. 5 and 8-10.
[0094] At 904, the fiducial elements are mapped. Referring to
mapping engine 404, a map of fiducial elements on the game space is
generated. In embodiments, both active and passive fiducial
elements can be mapped according to their respective mapping
processes. The generated map data can be transmitted to the mobile
device and/or the gaming controller station for use with the gaming
application.
[0095] At 906, two or more craft are launched into the game space.
In an embodiment, the craft are launched at a specified launch area
such as launch area 708 in FIG. 10.
[0096] At 908, the craft are located within the game space.
Referring to locating engine 406, active fiducial elements, passive
fiducial elements, and/or the craft including a downward-facing
camera can be used to triangulate the craft position within the
game space. This data is aggregated as position data and
transmitted to one or more of the device, gaming controller
station, or other system components.
[0097] At 910, the position data of the craft is integrated into
the gaming application and displayed on the mobile device. The
three-dimensional position data is filtered or otherwise
synthesized to represent two-dimensional data. In embodiments, the
three-dimensional position data can be further integrated into game
play features, such as health, power boost, "hiding" locations, and
others, depending on the game.
[0098] Steps 908 and 910 can be iterated to update the position
location of the craft within the gaming application according to
any desired update rate.
[0099] Various embodiments of systems, devices, and methods have
been described herein. These embodiments are given only by way of
example and are not intended to limit the scope of the claimed
inventions. It should be appreciated, moreover, that the various
features of the embodiments that have been described may be
combined in various ways to produce numerous additional
embodiments. Moreover, while various materials, dimensions, shapes,
configurations and locations, etc. have been described for use with
disclosed embodiments, others besides those disclosed may be
utilized without exceeding the scope of the claimed inventions.
[0100] Persons of ordinary skill in the relevant arts will
recognize that the subject matter hereof may comprise fewer
features than illustrated in any individual embodiment described
above. The embodiments described herein are not meant to be an
exhaustive presentation of the ways in which the various features
of the subject matter hereof may be combined. Accordingly, the
embodiments are not mutually exclusive combinations of features;
rather, the various embodiments can comprise a combination of
different individual features selected from different individual
embodiments, as understood by persons of ordinary skill in the art.
Moreover, elements described with respect to one embodiment can be
implemented in other embodiments even when not described in such
embodiments unless otherwise noted.
[0101] Although a dependent claim may refer in the claims to a
specific combination with one or more other claims, other
embodiments can also include a combination of the dependent claim
with the subject matter of each other dependent claim or a
combination of one or more features with other dependent or
independent claims. Such combinations are proposed herein unless it
is stated that a specific combination is not intended.
[0102] Any incorporation by reference of documents above is limited
such that no subject matter is incorporated that is contrary to the
explicit disclosure herein. Any incorporation by reference of
documents above is further limited such that no claims included in
the documents are incorporated by reference herein. Any
incorporation by reference of documents above is yet further
limited such that any definitions provided in the documents are not
incorporated by reference herein unless expressly included
herein.
[0103] For purposes of interpreting the claims, it is expressly
intended that the provisions of 35 U.S.C. .sctn. 112(f) are not to
be invoked unless the specific terms "means for" or "step for" are
recited in a claim.
* * * * *