HK40069809B - Aerial show system using unmanned aerial vehicle (uav) energy to animate creative show element - Google Patents

Description

An aerial performance system that uses unmanned aerial vehicle (UAV) energy to animate creative performance elements.

Technical Field

This specification generally relates to aerial performances or displays, and more specifically, it relates to a novel aerial performance system (and related operating methods) adapted to utilize the energy of an unmanned aerial vehicle (UAV) to activate and/or animate creative performance effects devices or performance elements to produce dynamic performance effects as the UAV flies through the performance airspace.

Background Technology

There is a significant need for new methods of providing performances or displays in the sky. For example, these performances and displays could be offered to crowds visiting theme parks or amusement parks, or enjoying time on cruise ships. In other cases, aerial displays or performances could be provided to sports fans before or after sporting events, or even during halftime or other breaks.

Many of these sky-based or aerial performances or displays rely entirely on ground-based performance systems. For example, fireworks or other pyrotechnic displays may involve launching performance components in a choreographed manner, in some cases synchronized with a sound track (e.g., the operation of a ground-based sound system). As another example, a performance or display may involve light and/or laser shows illuminating the sky overhead and/or screens and/or other objects on the ground or in the sky above the audience. In other cases, performances or displays use fountains to dynamically project water, which can be choreographed and synchronized with a sound track, and lighting is typically used to illuminate the projected water.

Recently, performance and presentation designers have begun experimenting with unmanned aerial vehicles (UAVs) or drones, such as quadcopters, but the results have not met all their goals or needs. In particular, UAVs have typically been controlled simply by performing a set of pre-programmed movements in space (e.g., executing a predetermined flight plan). Some of these UAVs have been used to carry subject payloads or lift static performance elements such as overhead projection screens. Larger UAVs experience stronger downwash forces because their powerful rotors cause undesirable movement of the payload into turbulent air, and performance designers often address this by choosing more rigid performance elements or more permeable materials to limit the effects of downwash.

Summary of the Invention

The inventors recognized the need for a method to handle the large forces provided by the downwash from the UAV rotor (or propulsion and lifting mechanism). Furthermore, the inventors understood that launching performance effects equipment (or "performance elements") for aerial maneuvers typically requires ground-based winch and tower systems. Additionally, dropping or scattering performance elements (such as artificial snow or confetti) over large areas requires substantial infrastructure, such as towers within or near the performance airspace.

To address these and other issues, an aerial performance system was created that employs various methods to utilize the downwash and other forces (such as kinetic or potential energy) generated or provided by the UAV as creative elements within itself. Each UAV in the aerial performance system includes a propulsion and lifting mechanism, which may comprise one or more rotors or propellers, and generates an downwash as it moves the UAV chassis/body in three dimensions around the performance airspace. The aerial performance system also includes one-to-many performance effects devices or performance elements adapted to utilize the downwash (e.g., its kinetic energy or turbulent airflow) to activate or animate one or more movable parts (or features configured to be animated in response to being placed in the UAV's downwash) to generate desired performance effects (e.g., rotating propellers or fans on objects carried or tethered beneath the UAV chassis/body).

Typically, movable components will be passive in other cases (e.g., not internally actuated by integrated motors, etc.) and will rely on energy or force output or created by the UAV for actuation or animation. In other cases, the kinetic energy of the UAV or the movement of its chassis/body is used to activate performance effects equipment or performance elements, such as providing energy to ground-based performance elements to create aerial swings or launches, without the need for a tower. In some cases, the potential energy or boost provided by the UAV is used to animate performance elements, such as by dropping the element, and this can be propelled by energy from an airflow downwash, which can be enhanced by using a funnel or other device to target the airflow downwash energy or flow past or near the falling performance element (e.g., artificial snow, streams or droplets of water, confetti, promotional items, etc.).

More specifically, a system suitable for providing aerial performances using animated performance elements is provided. The system includes an unmanned aerial vehicle (UAV) with a chassis and a lifting and propulsion mechanism for moving the chassis to one or more altitudes above the ground. The system also includes performance effects equipment comprising actuated components, which are typically passive (or not self-actuated for any movement). During operation, the performance effects equipment is coupled to the chassis to move through airspace with the UAV, and the actuated components are actuated by the conversion of kinetic or potential energy transferred to the performance effects equipment by the movement of the UAV's chassis in the airspace.

In some embodiments, kinetic energy is generated by the movement of the UAV in three dimensions within the airspace, and potential energy is generated by the UAV moving to any altitude above the ground. A flight propulsion mechanism generates an airflow downwash during the UAV's operation in the airspace, and actuable components are aerodynamically coupled to the downwash, so that they are fully (without requiring kinetic or potential energy from the UAV) or further actuated by the downwash. The actuable components may be stationary before being contacted by the downwash and may include aerodynamic surfaces that convert the downwash into power to actuate moving elements of the performance effects device.

In some embodiments, the performance effects device is supported by a chassis, and actuable components include a plurality of particles released from the performance effects device, with an airflow downwash causing the movement of the plurality of particles to achieve the performance effect. In such embodiments, the performance effects device may also include a funnel element that receives and redirects the airflow downwash to guide the trajectory of the plurality of particles released from the performance effects device. In these or other implementations, the particles may be water droplets, and the airflow downwash causes the water droplets to diffuse to form a projection surface, wherein the system also includes a projector that projects video or light (e.g., laser) onto the projection surface.

In some cases, the performance equipment is physically attached to a chassis, suspended from the chassis, or towed by a UAV during movement through an airspace. Lifting and propulsion mechanisms can generate turbulence in the airspace, and the aerodynamic surfaces of the actuated parts convert the energy provided by the turbulence into animation power. The performance equipment can be positioned on the ground, and the UAV can be controlled to traverse over the actuated parts to guide the downwash of airflow from the lifting and propulsion mechanisms onto the surfaces of the actuated parts, thereby actuating their movement. Alternatively, the performance equipment can be coupled to a chassis, and the actuated parts can include objects operable to perform stunts after release from the performance equipment into the airspace. In this implementation, the movement (kinetic energy) of the UAV after release and/or the height of the UAV in the airspace (potential energy) provide the arousal conditions for performing the stunt. In some useful cases, the performance equipment is positioned on the ground, and the actuated parts are tethered to the chassis and adapted to use kinetic energy to achieve lifting, actuation, or swaying movement in the airspace.

Attached Figure Description

Figure 1 illustrates a functional block diagram of an aerial performance system that uses the energy of a UAV to create performance effects according to this specification.

Figure 2 is a bottom perspective view of an exemplary implementation of the aerial performance system of this specification, showing the use of airflow downwash to animate the dragging performance effect device;

Figure 3 illustrates another aerial performance system of this specification (e.g., a partial implementation of the system in Figure 1), which uses a UAV to animate or activate performance effects devices using a combination of kinetic and potential energy and the downwash force of airflow.

Figure 4 illustrates an aerial performance system of this specification (e.g., another implementation of a portion of the system in Figure 1), which uses a UAV to animate or activate ground-based performance effects equipment using its airflow downwash.

Figure 5 illustrates an aerial performance system (e.g., a partial implementation of the system in Figure 1), showing the use of UAVs and the energy they output or provide to achieve additional performance effects.

Detailed Implementation

In short, this document describes a system particularly suitable for providing a performance or display in or near the sky or space above or near a group of viewers or observers below (e.g., on the ground). The performance includes one or more performance effects provided by performance elements or performance effects equipment that utilize energy provided or output by one or more unmanned aerial vehicles (UAVs) to generate the performance effects. "Energy" can be the potential energy provided to the performance effects equipment when the UAV lifts it to a certain height above the ground, or it can be the kinetic energy provided by the UAV as it moves in three dimensions within the performance airspace above the ground. In some preferred embodiments, "energy" is the force (or "downwash force") generated by the UAV's lifting and propulsion mechanisms (e.g., rotors, propellers, etc.) in the downwash, and the performance effects equipment includes one or more movable or actuable components that may be stationary until exposed to the downwash from the UAV, at which point they are actuated or animated to move and provide performance effects (e.g., rotating or otherwise moving the main elements of a stereoscopic stage set, such as a robot, to improve the realism of the appearance).

The aircraft can take the form of virtually any UAV or drone configured to lift and/or carry heavier payloads, while other embodiments may use other aircraft, allowing "UAV" (or "drone") to be understood in a very broad sense. In many cases, the UAV will be configured with, for example, a chassis or body for mounting performance effects equipment, or the performance effects equipment may be tethered/coupled to the chassis or body for support below or behind the UAV. The inventors anticipate that as the size and payload lifting capacity of UAVs increase due to technological advancements, they will also generate stronger downwash forces that can be effectively utilized to create new and exciting performance effects as part of aerial shows or displays.

Figure 1 illustrates a functional block diagram of an aerial performance or display system 100 utilizing energy supplied or created by a UAV 120, employing the techniques described in this specification. System 100 includes a UAV (or unmanned aerial vehicle) 120 and an onboard performance component 150. The UAV 120 is configured to support the onboard performance component 150 (as shown by dashed line 151) and move it in three dimensions above ground 102 in space 104, as indicated by arrow 125. Multiple UAVs 120 may be used to implement system 100 in various forms. Generally, UAV120 can be any unmanned aerial vehicle or object, including aircraft that can be moved or propelled through space 104 via lifting and propulsion mechanism 124, such as propeller-driven aircraft (such as airplane-type UAVs and helicopter-type aircraft (such as triplanes, quadplanes) and aircraft using 1 to 6 or more propellers or rotors), and propulsion and lifting for movement 125 of chassis/body 122 (and supported performance components 150) are provided by flight propulsion mechanism (e.g., a combination of motors and propellers) 124.

UAV 120 is typically chosen because it can support its own weight as well as the weight of the onboard performance component 150 (and drag during flight). UAV 120 also includes a power source 128 (e.g., one or more batteries) to provide power for the operation of the UAV 120's mechanisms 124 and other power-required components. Sensors 126 are provided to sense the operation of the UAV 120, including the propulsion mechanism 124, and to determine operating parameters such as the roll, pitch, and yaw of the chassis/body 122, the speed (and in some cases, orientation) of the chassis/body 122, and the position/location of the chassis/body 122 in space 104. Arrow 125 also illustrates how UAV 120 provides potential energy to performance component 150 by lifting it to a certain height above ground 102 and provides kinetic energy to performance component 150 (and any coupled/tethered offboard objects 199) through its movement across airspace 104. Furthermore, as indicated by arrow 127, the lifting and propulsion mechanisms 124 generate an airflow downwash during their operation, and as described below, the performance components 150 and/or ground-based performance elements 196 can be configured to utilize the airflow downwash force (or air turbulence) to create unique performance effects using their actuated or movable parts 169 and 197, respectively.

UAV 120 also includes processor(s) 130, which manages communication (typically wireless) with the ground-based performance control system 170, as indicated by arrow 171. Input/output (I/O) devices 132 are provided for this purpose and may include wireless transceivers, etc., as is well known in the UAV industry. UAV 120 includes memory/data storage 136 managed by processor 130, and a flight controller 134 (e.g., hardware and software) also managed (or executing code) by processor 130. Flight controller 134 processes and executes flight plan 138 stored in memory for a specific performance/demonstration to be performed during the operation of system 100, and configuration and/or setup files may be provided in plan 138 or separately in memory 136. The configuration and/or setup files are for each platform 110 and each performance/demonstration (e.g., for determining the configuration and/or settings of flight controller 134 and/or (e.g., onboard performance controller 156 with data 166) to dynamically respond to the performance environment).

In response, flight controller 134 may generate flight control signal 135, which is provided or transmitted to flight propulsion mechanisms 124 to operate, thereby moving UAV 110 from one position 125 to the next along the flight path at a desired speed. Signal 135 may also be generated based on outputs from sensors 126, such as current travel speed, orientation, and 3D orientation 142 and/or current position/location 144 in space 104 relative to desired performance markers/positions and time as defined in performance flight plan 138. Further or alternatively, signal 135 may be generated by flight controller 134 based on flight control signal 140 received from ground-based performance control system 170 (as shown in communication 171) and/or based on inputs from onboard performance component 150 and its control software module/performance controller 156.

The UAV 120, with chassis 122, houses or supports a flight propulsion mechanism 124, capable of lifting and/or moving in three dimensions as indicated by arrow 125. A flight controller 134 is disposed on the UAV 120 to generate and/or receive flight control signals 135 and 140, and the controller 134 is coupled to the flight propulsion mechanism 124. The mechanism 124 and/or sensor 126 operate to indicate an absolute or relative position 144 in space 104, and the flight controller 134 causes the lifting and propulsion mechanism 124 to move the UAV chassis 122 125 to the position indicated by flight control signals 135 (and 140), where this position is typically defined in the performance flight plan 138.

The airborne performance component 150 is supported by the UAV 120 (as shown by dashed line 151) to move 125 together with the UAV 120, which imparts potential and kinetic energy 125 to the component 150 and its components, including the performance effects equipment 168. The performance component 150 includes a processor 152 that manages the operation of I/O devices 154 to facilitate communication with non-airborne equipment, such as communication 171 with a ground-based performance control system 170. The processor 152 also executes code/instructions or runs software in local memory 160 to provide the functionality of an airborne performance controller or control software module 156.

Specifically, the performance controller 156 processes multiple scripts or performance plans 161 to generate a set of performance control signals 164, which are transmitted to one or more performance effects devices 190 to operate their actuation/release mechanisms 191 to release or actuate projectiles or particles 192 (such as confetti, artificial snow, water streams/particles, etc.) to create specific performance effects using lift and/or kinetic energy 125 and/or airflow downwash 127 from the lift and propulsion mechanism 124. Component 150 includes an interface 158 with mechanism 124, with sensors 126, and/or flight controller 134 to allow component 150 to receive aircraft control status information 165 from UAV 120 (e.g., flight speed, chassis orientation (yaw, pitch, and roll), etc.), current speed and direction of travel 142, and current position 144. The performance controller 156 can generate timing/trigger signals 162 and position signals 163 from the script/performance plan 161, or receive timing/trigger signals 162 and position signals 163 from the flight controller 134 or the ground-based performance control system 170. These signals can be used independently or in combination to create performance control signals 164.

Performance plan 161 may include two or more scripts (or branches of new performance segments), which may be dynamically selected by performance controller 156 based on timing signal 162, position signal 163, and/or aircraft control status information 165. In this way, performance effects equipment 190 can be operated to provide the desired performance effects at predetermined or dynamically selected timings and/or positions in space 104 of UAV 110. Performance controller 156 may also generate alternative scripts for one or more performance effects equipment in real time. Predefined scripts/branches of the performance or (e.g., real-time alternatives) real-time generated scripts/branches of the performance may be selected or created by performance controller 156 based on real-time data, such as the current position 144, current speed and direction of travel 142 of the UAV, and/or the current orientation of the UAV chassis 122 (and therefore, performance effects equipment 168, 190) provided in aircraft control status information 165 from sensor 126. The memory 160 may also store a performance configuration 166, which, through the operation of module 156, configures how the platform 110 will process and react to all signals.

All or a subset of the performance effects devices 168, 190 may be mounted on the UAV chassis 122, or may be otherwise coupled/tethered as shown by dashed line 151, such as when the UAV 120 moves 125 through space 104, with all or a subset of the performance effects devices 168, 190 positioned below the UAV 120. Each of the performance effects devices 168 includes one or more movable or actuable components 169 that are moved or animated using airflow downwash (e.g., turbulent air or airflow) or airflow downwash force 127 (e.g., to swing as a pivot wing or tail, to rotate about an axis of rotation (e.g., propeller, impeller, etc.), etc.). For this purpose, the performance effects devices 168 are supported 151 such that the movable components 169 are exposed to a desired amount of airflow downwash 127 from a desired direction (and/or to a desired surface of the contact component 169).

The performance effects device 190 may include an actuation and/or release mechanism 191 that operates in one or more predetermined ways in response to the receipt of a performance control signal 164. In this regard, the performance effects device 190 includes a one-to-many projectile or particle 192, and the actuation or release mechanism 191 may be triggered by the performance control signal 164 to open a gate or door in a container containing the particles 192, thereby releasing the particles 192 and activating or exciting them with potential and/or kinetic energy 125 provided by the UAV 120. Furthermore, a funnel 193 may be provided in the device 190 for guiding and/or concentrating an airflow downwash 127 so that the airflow downwash 127 imparts its energy to all or part of the released particles 192. The funnel 193 may also be used to direct the airflow downwash 127 onto non-airborne objects (e.g., movable and/or actuable parts 197 on ground-based performance elements 196 in system 100). The performance effects devices 168, 190 and the ground-based performance element 196 can take various forms to realize system 100, and in some cases may include a lighting system (e.g., one-to-many white or colored LEDs, lasers, black lights, etc.) that directs light to movable or actuable parts 169, 197 or released and excited particles 192 (which may be particles or droplets of water or other materials distributed to form a projection screen/surface in space 104); an audio system with playback devices and one or more speakers; a pyrotechnic system for creating one or more pyrotechnic effects; and/or a projectile system (e.g., projectiles for releasing or spraying objects such as colored confetti, ribbons, water droplets or streams, coupons, souvenirs and other objects).

The airborne performance system or component 150 includes computing resources such as processor(s) 152 and controller 156, which communicate with each other, for example, via interface 158. The airborne performance controller 156, having processor 152 (and in some cases memory 160), may be entirely located within or on top of the UAV chassis/body 122, and may receive power from power supply 128 and data from flight controller 134 (or directly from propulsion mechanism 124 and/or sensors 126) from the host UAV chassis 122 via interface 158 (e.g., through a performance interface). The airborne performance controller 156 may be connected to various airborne performance effects devices 190 for direct control and sequencing of their operation.

In some embodiments of platform 110, the airborne performance controller 156 receives timing and trigger signals 171 from a ground-based performance control system 170. For this purpose, the performance control system 170 includes an EO device 174 for communicating with the EO device 154 of the airborne performance component 150. The EO device 174 may be managed by a processor 172, which also executes code and/or runs software to provide the functionality of the main/central performance control module or performance controller 176. The performance control system 170 also includes a memory/data storage 180 that stores records or files 182 for each UAV 120 in the performance system fleet. These records or files 182 store data specific to that UAV 120 and its performance effects devices 168, 190 (e.g., the current velocity 183 and position/positioning 184 of the UAV 120 in space) and other operational data (e.g., the orientation, operational status, etc. of the performance effects devices 168, 190 of the UAV 120)). The memory 180 may also store a performance plan 186, which defines the flight path and performance script for each UAV 120 and its performance components 150, and includes the definition of a bounded geographical area 188 (e.g., the definition of the boundaries of the performance space within space 104 of one or more UAVs 120 and/or the through and non-through spaces above ground 102). The memory 180 may also store a log of how the actual performance differs from the predetermined plan, in order to inform and improve developments in the control system and content creation.

During operation of system 100, the onboard performance controller 156 can receive timing and trigger signals 171 from the ground-based performance control system 170 (and store them in the onboard memory 162 as shown). System 170 operates independently of the safety-critical flight controller 134 of UAV 120, but is coordinated with the real-time position 144 (and signal 163) of UAV chassis 122. Geographic location 144 (and position signal 163) can be used to actuate performance effects through the operation of performance effects equipment 190 with control signal 164 based on pre-programmed conditions (e.g., entering and/or leaving a specific geographic area 188) to synchronize with the flight path of the UAV in real time. If the ground-based performance control system 170 or the airborne performance controller 156 determines that the UAV 120 is leaving a bounded geographical area 188 (e.g., due to factors such as navigation inaccuracies), the airborne performance controller 156 may generate a performance control signal 164 to suppress or modify the operation of one or more performance effects devices 190, thereby maintaining the overall performance appearance (e.g., turning off or dimming the lighting system or stopping the operation of the pyrotechnics or projection system when the UAV 120 leaves the performance space in space 104).

Figure 2 is a bottom perspective view of an exemplary implementation of the aerial performance system 200 of this specification, showing the use of airflow downwash 216, 219 to animate the towed performance effect device 230. System 200 is part of the typical system 100 of Figure 1, wherein other components of system 100 are not shown for ease of explanation. As shown, system 200 includes a UAV 210 having a chassis/body 212 and rotors 214, 217 (plus two additional rotors not mentioned, which together form part of the UAV's lifting and propulsion mechanism(s)), rotors 214, 217 rotating/turning 215, 218 to provide lifting and propulsion 213 in airspace 208 above ground 204.

System 200 also includes a performance effects device 230 having a main body 232, which can take various forms, with Figure 2 providing an example of a magic flying ship. The performance effects device 230 includes a first movable or actuable component 234, such as a wheel or tail propeller rotatable about its central axis, facing the tail of the main body 232, and a second movable or actuable component 238, such as a front propeller or fan rotatable about its central axis, facing the front of the main body 232. The main body of the performance effects device 230 is coupled to the UAV chassis/main body 212 via a set of wires/cables or other tethering components 211, such that when the UAV 210 flies in space 208 at a distance above the ground 208, the performance effects device 230 is suspended below the UAV 210. Therefore, this movement (lifting and three-dimensional movement in space 208) imparts potential and kinetic energy to the main body 232 of the performance effects device, respectively.

Furthermore, the performance effects device 230 is adapted to achieve multiple performance effects using the rotation 215, 218 of rotors 214, 217. Specifically, the coupling with component 211 is designed to position the first actuable component 234 in the path of an airflow downwash 216 from rotor 214, such that during operation of system 200, rotation 215 creates an airflow downwash 216 flowing over the surface of the rotatable wheel 234, causing it to rotate 235. In other words, the airflow downwash force in the flowing air 216 is used to perform the work of animate the performance effects device 230. Similarly, the second actuable component 238 is positioned in the path of an airflow downwash 219 created by rotor 217 during its rotation 218 to move 213UAV 210, and the airflow downwash 219 contacts the surface of component 238 (e.g., its fan or propeller blades), causing it to rotate 239 (or be actuated or animate). Although two components 234 and 238 are shown, the performance effects device 230 may include only one such component or three, four or more. Other components may take similar or different forms and configurations to provide one or more surfaces on which an airflow downwash force can be applied, and to provide one or more features or elements that move in response to such application of force(s).

Figure 3 illustrates another aerial performance system (e.g., a partial implementation of the system in Figure 1) 300 that uses UAVs 310, 311 to animate or activate the performance effects device 330 using a combination of kinetic and potential energy and airflow downwash. In system 300, a pair of UAVs 310, 311 are tethered to the performance effects device 330 by cables/lines 316, 317, and the rotors 312, 313 of the UAVs 310, 311 rotate rapidly to provide lift and propulsion (or 3D movement) 320, 321 through the airspace 306 above the ground 302 where the audience 304 is located. Therefore, the upward movement 320, 321 of UAVs 310, 311 provides a lift to the main body of the performance effects device 330 for positioning it for display in the airspace 306, and the lift above the ground 302 also imparts potential energy to the device 330, which can then be used to activate or animate one or more of its features, as indicated by arrows 336 and 337 (e.g., by decoupling one or more cables/lines 316, 317 or by moving UAVs 310, 311 downward toward the ground 302) after being released or dropped by UAVs 310, 311 (e.g., by decoupling one or more cables/lines 316, 317 or by moving UAVs 310, 311 downward toward the ground 302 in a rapid manner), using pivots or movable parts 334 and 335. The kinetic energy provided by the movements 320, 321 can also be used to activate the components 334, 335 to move 336, 337 in a desired manner (at a desired speed or (multiple) directions), for example, one UAV 310 can hover while another UAV 311 moves relative to UAV 310, causing the arm 334 to pivot 336 about its pivot coupling.

In addition to utilizing the potential and kinetic energy provided by UAVs 310 and 311, the performance effects device 330 can also be activated or animated by using the downwash force from one or both of UAVs 310 and 311. For example, as shown, the performance effects device 330 includes multiple movable or actuated parts or components 340 (e.g., textured elements that can mimic grass, hair, or other movable objects) on the exposed surfaces of the main body of the performance effects device 330. The downwash 314 from the rotating rotors 312 of the UAV 310 contacts the actuated parts 340, causing them to move 341 in a dynamic or turbulent manner. The volume of the airflow provided by the downwash 314 and the force it exerts can change rapidly in quantity and direction depending on the aircraft over time, which may be desirable for creating believable, organic motion in the performance effects. In this way, the performance effects device 330 is uniquely configured to utilize the potential, kinetic, and downwash energy provided by UAVs 310 and 311 to achieve the desired performance effects.

As can be understood from Figures 1 to 3, the aerial performance system provides components or systems for propulsion or activation via airflow downwash. Animation platforms (e.g., performance effects equipment or performance elements) may be mechanically coupled to the UAV's lifting and propulsion system (such as via the UAV body/chassis and an extension of its mounting frame/structure). Furthermore, the animation platform or its movable components are aerodynamically coupled to the airflow downwash generated or output by the UAV's lifting and propulsion system. The animation platform or its movable components may include aerodynamic surfaces adapted to convert downwash energy into animation power to actuate the movable components of the animation platform. The animation platform may be directly physically attached to the lifting and propulsion system or the UAV body/chassis, or it may be suspended from or towed by the UAV. The UAV's lifting and propulsion system generates turbulence in the airspace, and the aerodynamic surfaces of the animation platform convert the turbulence or energy in the moving air into animation power.

In other cases, the animation platform is located or positioned on the ground, and one or more UAVs of the performance system traverse above the platform to generate an airflow downwash to animate or activate movable or actuable components of the platform. Figure 4 illustrates an aerial performance system (e.g., another implementation of a portion of the system of Figure 1) 400 that uses UAVs to animate or activate ground-based performance effects equipment using their airflow downwash. Specifically, system 400 includes performance effects equipment 410 having a base or platform positioned or supported on ground 402, and equipment 410 includes movable or actuable components 416 pivotally coupled or supported at the top of a tower 414 fixed to base 412. Movable components 416 are typically stationary until an external force is applied because equipment 410 does not include actuators or motors for rotating components 416 (e.g., blades of a propeller or windmill).

System 400 includes UAVs 420A and 420B to selectively provide downwash airflow to rotate component 416 about its central axis. In a first operating state, UAV 420A moves 421A in three dimensions in airspace 404 above ground 402 using its lifting and propulsion mechanisms (e.g., rotating rotors as indicated by arrow 423A). UAV 420A is not positioned in airspace 404 to guide its downwash airflow onto the surface of component 416, therefore it does not rotate (i.e., is currently not actuated). To suit the specific performance line and timing of the show, UAV 420B moves 421B along flight path 429 to hover in a second position in airspace 404. This second position is selected to direct the downwash 425 from the lifting and propulsion mechanism 422 of UAV 420B's operation 423B onto the aerodynamic surface of movable component 416. This converts the downwash energy into movement 417 (here, rotation), causing component 416 to be activated or actuated by the downwash 425. The ground clearance of UAV 420B can be changed to adjust the force of the downwash, thereby adjusting the magnitude of the performance effect. When the performance effect is no longer desired, UAV 420B can fly 421A along path 429 back to its first operational position in airspace 404 (or move the downwash away from component 416 or its aerodynamic surface) to another position. In this way, UAVs can be effectively used to selectively actuate ground-based performance equipment, allowing the operation of the performance equipment to be well synchronized with other performance equipment in airspace 404 or on the ground 402.

Figure 5 illustrates an aerial performance system (e.g., a partial implementation of the system in Figure 1) 500, showing the use of UAVs and the energy they output or provide to achieve additional performance effects, which can be used in conjunction with those in Figures 2 through 4 or independently to achieve a unique performance experience. As shown, system 500 includes a UAV 510 that flies 511 in three dimensions through airspace 504 at a certain distance above ground 502. For this purpose, UAV 510 includes a lifting and propulsion mechanism with multiple rotors 512 rotating as indicated by arrow 513. Thus, each rotor 512 generates an airflow downwash 514, which is an airflow moving towards ground 502.

The performance effects device 520 is coupled to the body/chassis of the UAV 510 to move 511 together with the UAV 510 around airspace 504. The performance effects device 520 includes movable or actuable components in the form of multiple particles or objects 526, which can be selectively activated or released from the body of the device 520, for example, by opening a release door or hatch 524 as indicated by arrow 525. The kinetic and potential energy of the UAV 510 provided by the movement 511 is given to these released particles 526. Furthermore, an airflow downwash 514 also imparts turbulence and energy to the particles to achieve the desired performance effect. This effect can be modulated or altered by providing one or more funnels or similar flow guiding/shaping devices 516 below the rotor or outlet of the lifting and propulsion mechanism 512 to receive and redirect/converge the airflow as indicated by arrow 517 before it is introduced into the particles 526 and their aerodynamic surfaces. These particles can take the form of artificial snow, colored confetti, bubbles, yarn, ribbons, objects with aerodynamic surfaces, water droplets, promotional items, etc., to achieve the desired performance effect or audience reaction.

In some cases (as shown), a ground-based performance effects device 530 is also included in the system 500, and the device 530 includes a projector or other light source 532 for projecting images or light 533 onto falling particles 526. For this purpose, the outlet portion of the funnel component 516 and/or the body of the airborne performance effects device 520 may be configured to guide the particles 526 and/or shape their flow patterns to create a projection surface or screen. The projector/light source 532 can then project its light 533 onto this particle-based screen. In some embodiments, the particles 526 take the form of water droplets, and the airflow downwash 517 and/or outlet element of the device 520 are adapted to evaporate outlet water to form water droplets 526.

System 500 also includes a second UAV 540 flying 541 in airspace 504 at a distance above ground 502. UAV 540 is shown as supporting a performance effect device 550A, which may take the form of an electro-animation or robotic device. The movement/flight 541 of UAV 540 imparts kinetic and potential energy to the electro-animation/device 550A, and this can be used to perform aerial maneuvers or performance effects. This shows the electro-animation/device 550B operating in a second state when released or activated from the UAV's body/chassis (e.g., untying the tether, applying additional force to guide the electro-animation/device 550B in a specific direction at a desired speed, etc.). In the second operating state, the electro-animation/device 550B may be equipped with actuable aerodynamic surfaces to adjust its trajectory characteristics and achieve a desired series of movements 555 as it travels through airspace 504 toward the ground. The potential and kinetic energy imparted by UAV 540 before release/activation, as well as the force of the downwash on any aerodynamic surface as the device 550B leaves the area of influence below UAV 540, contribute to these actions.

System 500 also includes a third UAV 560 that flies 561 through airspace 504 and provides a ground-based performance effects device 570 with movable or actuable components 572A, 572B. Components 572A, 572B may be robotic parts, performance props, etc., coupled or tethered by lines/cables 574A, 574B. In a first operating state of system 500, component/object 572A is attached to or supported on a base/platform 571 of performance effects device 570, and UAV 560 moves 561, which gives energy to the tethered lines/cables 574A. In a second operating state of system 500, component/object 572B is released or lifted away from base/platform 571 because the energy in the tethered lines/cables 574B is released or actuated or moved 578 of component/object 572B, such as by projectile motion and/or swaying motion.

Although the invention has been described and illustrated with a certain degree of specificity, it should be understood that this disclosure is by way of example only, and that those skilled in the art can make various changes to the combination and arrangement of components, as claimed above, without departing from the spirit and scope of the invention.

Claims (27)

1. A system suitable for providing aerial performances using animated performance elements, comprising: An unmanned aerial vehicle (UAV) includes a chassis and a lifting and propulsion mechanism for moving the chassis to one or more heights above the ground; and Performance effects equipment including operable parts, The performance effects equipment is coupled to the chassis to move through the airspace together with the UAV. The actuable component is actuated by converting the kinetic or potential energy of the performance effects device. This kinetic or potential energy is supplied to the performance effects device by the movement of the UAV's chassis in the airspace. The lifting and propulsion mechanism generates an airflow downwash during the movement of the UAV's chassis through the airspace. The actuable component is aerodynamically coupled to the airflow downwash and is fully or further actuated by the airflow downwash. The performance effects equipment is supported by the chassis. The actuable component includes multiple particles released from the performance effects device, and The downwashing airflow causes the movement of the multiple particles to achieve the performance effect. The performance effects device further includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of the plurality of particles released from the performance effects device. 2. The system of claim 1, wherein the kinetic energy is generated by the movement of the UAV in three dimensions in the airspace, and wherein the potential energy is generated by the movement of the UAV to one or more heights above the ground. 3. The system of claim 1, wherein the actuable component is stationary before being contacted by the airflow downwash, and the actuable component includes an aerodynamic surface that converts the airflow downwash into power to actuate the moving elements of the performance effect device. 4. The system of claim 1, wherein the plurality of particles are water droplets, wherein the airflow washes and diffuses the water droplets to form a projection surface, and wherein the system further comprises a projector that projects video or laser onto the projection surface. 5. The system of claim 1, wherein the performance effects device is physically attached to the chassis, suspended on the chassis, or towed by the UAV during movement through the airspace. 6. The system of claim 1, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 7. The system of claim 1, wherein the performance effects device includes a portion positioned on the ground, and wherein the UAV traverses over the actuable member during movement through the airspace to guide an airflow from the lifting and propulsion mechanism downwash onto the surface of the actuable member, thereby actuating the movement of the actuable member. 8. The system of claim 1, wherein the performance effects device is coupled to the chassis, wherein the actuable component includes an object operable to perform a stunt after being released from the performance effects device into the airspace, and wherein at least one of the movement of the UAV after the release and the height of the UAV in the airspace provides the actuation condition for performing the stunt. 9. The system of claim 1, wherein the performance effect device includes a portion positioned on the ground, and wherein the actuable component is attached to the chassis and adapted to use the kinetic energy to achieve lifting, starting, or swaying movement in the airspace. 10. A system for providing aerial performances using dynamic performance elements, comprising: An aircraft, comprising a main body and a lifting and propulsion mechanism operable to move the main body through airspace; and A performance effects device supported on or below the main body and including actuable components. When the main body moves through the airspace, the lifting and propulsion mechanism generates an airflow for downwashing. Specifically, when the airflow comes into contact with one or more surfaces of the actuable component, the actuable component is actuated to move. The actuable component includes multiple particles released from the performance effects device, and The downwashing airflow causes the movement of the multiple particles to achieve the performance effect. The performance effects device further includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of the plurality of particles released from the performance effects device. 11. The system of claim 10, wherein the plurality of particles are water droplets, wherein the airflow washes and diffuses the water droplets to form a projection surface, and wherein the system further comprises a projector that projects video or light onto the projection surface. 12. The system of claim 10, wherein the actuable component comprises an object operable to perform a stunt maneuver after being released from the performance equipment into the airspace, and wherein, after the release, the aircraft provides the conditions for performing the stunt maneuver by at least one of movement in the airspace and the altitude of the aircraft in the airspace. 13. The system of claim 10, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 14. A system for providing aerial performances using animated performance elements, comprising: An unmanned aerial vehicle (UAV) includes a chassis and a lifting and propulsion mechanism for moving the chassis to one or more altitudes above the ground; and Performance effects equipment including operable parts, The flight propulsion mechanism generates an airflow downwash during the movement of the UAV's chassis through the airspace, and The actuable component is aerodynamically coupled to and actuated by the airflow downwash. The performance effects device also includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of multiple particles released from the performance effects device. 15. The system of claim 14, wherein the performance effects device is positioned on the ground, and wherein the UAV traverses over the actuable member during movement through the airspace to guide an airflow from the lifting and propulsion mechanism downwash onto the surface of the actuable member, thereby actuating the movement of the actuable member. 16. The system of claim 14, wherein the performance effects device is positioned on the ground, and wherein the actuated component is attached to the chassis and adapted to use the kinetic energy of the UAV to achieve lifting, starting, or swaying movement in the airspace. 17. The system of claim 14, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 18. A system suitable for providing aerial performances using animated performance elements, comprising: An unmanned aerial vehicle (UAV) includes a chassis and a lifting and propulsion mechanism for moving the chassis to one or more altitudes above the ground; and Performance effects equipment including operable parts, The performance effects equipment is coupled to the chassis to move through the airspace together with the UAV. The actuable component is actuated by converting the kinetic or potential energy of the performance effects device. This kinetic or potential energy is supplied to the performance effects device by the movement of the UAV chassis in the airspace. The performance effects device includes a portion positioned on the ground, and The UAV, while moving through the airspace, traverses above the actuable component to guide an airflow from the lifting and propulsion mechanism downwash onto the surface of the actuable component, thereby actuating the movement of the actuable component. The performance effects device also includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of multiple particles released from the performance effects device. 19. The system of claim 18, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 20. A system suitable for providing aerial performances using animated performance elements, comprising: An unmanned aerial vehicle (UAV) includes a chassis and a lifting and propulsion mechanism for moving the chassis to one or more altitudes above the ground; and Performance effects equipment including operable parts, The performance effects equipment is coupled to the chassis to move through the airspace together with the UAV. The actuable component is actuated by converting the kinetic or potential energy of the performance effects device. This kinetic or potential energy is supplied to the performance effects device by the movement of the UAV chassis in the airspace. The performance effects equipment is coupled to the chassis. The actuable component includes an object operable to perform acrobatic maneuvers after being released from the performance equipment into the airspace, and Specifically, at least one of the movement of the UAV after release and the altitude of the UAV in the airspace provides the conditions for performing the stunt maneuver. The performance effects device also includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of multiple particles released from the performance effects device. 21. The system of claim 20, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 22. A system suitable for providing aerial performances using animated performance elements, comprising: An unmanned aerial vehicle (UAV) includes a chassis and a lifting and propulsion mechanism for moving the chassis to one or more altitudes above the ground; and Performance effects equipment including operable parts, The performance effects equipment is coupled to the chassis to move through the airspace together with the UAV. The actuable component is actuated by converting the kinetic or potential energy of the performance effects device. This kinetic or potential energy is supplied to the performance effects device by the movement of the UAV chassis in the airspace. The performance effects device includes a portion positioned on the ground, and The actuable component is attached to the chassis and is adapted to use the kinetic energy to achieve lifting, starting, or swaying movement in the airspace. The performance effects device also includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of multiple particles released from the performance effects device. 23. The system of claim 22, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform. 24. A system for providing aerial performances using dynamic performance elements, comprising: An aircraft, comprising a main body and a lifting and propulsion mechanism operable to move the main body through airspace; and A performance effects device supported on or below the main body and including actuable components. When the main body moves through the airspace, the lifting and propulsion mechanism generates an airflow for downwashing. Specifically, when the airflow comes into contact with one or more surfaces of the actuable component, the actuable component is actuated to move. The actuable component includes an object operable to perform acrobatic maneuvers after being released from the performance equipment into the airspace, and Specifically, after release, the UAV's movement within the airspace and its altitude within the airspace provide the conditions for performing the stunt maneuver. The performance effects device also includes a funnel element that receives and redirects the airflow downwards to guide the trajectory of multiple particles released from the performance effects device. 25. The system of claim 24, wherein the actuable component further comprises a plurality of particles released from the performance effects device, wherein the airflow downwash causes the plurality of particles to move to achieve a performance effect, and wherein the performance effects device further comprises a funnel element that receives and redirects the airflow downwash to guide the trajectory of the plurality of particles released from the performance effects device. 26. The system of claim 24, wherein the actuable component comprises a plurality of particles released from the performance effects device, wherein the airflow downwash causes the plurality of particles to move to achieve the performance effect, wherein the plurality of particles are water droplets, wherein the airflow downwash diffuses the water droplets to form a projection surface, and wherein the system further comprises a projector that projects video or light onto the projection surface. 27. The system of claim 24, wherein the lifting and propulsion mechanism generates turbulence in the air of the airspace, and the aerodynamic surface of the actuable component converts the energy provided by the turbulence in the air into animation power to actuate the movable component of the animation platform.