Patent Description:
Particular embodiments of the claimed invention are defined by the dependent claims.

These and other features, advantages, and objects of the present device will be further understood and appreciated by those skilled in the art upon studying the following specification, claims, and appended drawings.

The invention will now be described with reference to the following drawings, in which:.

For purposes of description herein, the terms "upper," "lower," "right," "left," "rear," "front," "vertical," "horizontal," and derivatives thereof shall relate to the invention as oriented in <FIG>. Unless stated otherwise, the term "front" shall refer to the surface of the element closer to an intended viewer of the display mirror, and the term "rear" shall refer to the surface of the element further from the intended viewer of the display mirror. However, it is to be understood that the invention may assume various alternative orientations, except where expressly specified to the contrary.

The terms "including," "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises a. " does not, without more constraints, preclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

The disclosure provides for various examples of coordinated lighting systems. The disclosure addresses the illumination of moving targets in rough terrain, and various static illumination examples that may require a portable or moving illumination. In some examples, the disclosed systems may be implemented as transportable operating rooms for medical and dental examinations, transportable laboratories, or lighting application. In various examples, the disclosure provides for the tracking and illumination of objects and uniform lighting portable or transportable applications.

Referring to <FIG>, a coordinated lighting system <NUM> is shown in connection with a plurality of drones <NUM>. As illustrated, each of the drones <NUM> includes a frame <NUM>. The frame <NUM> or body of the drone <NUM> may be formed of various lightweight, rigid materials. Examples of such materials may include aluminum, aircraft steel, graphene, carbon fiber, etc. The frame <NUM> of the drone <NUM> may be configured to connect a propulsion system <NUM> of the drone <NUM> with a payload <NUM>. Accordingly, the frame <NUM> may interconnect a body <NUM>, support arms <NUM>, and propulsion units <NUM> to form the drone <NUM>. The propulsion units <NUM> may correspond to lifting propellers configured to generate lift sufficient to support and transport the payload <NUM>. Accordingly, the drone <NUM> may be configured to position and transport the payload <NUM> suspended in the air. Further detailed discussion of the drone <NUM>, a corresponding control system, and related aspects of the disclosure are further discussed in reference to <FIG>.

The payload <NUM> of the drone <NUM> may include a lighting assembly <NUM>, which may form a portion of the coordinated lighting system <NUM>. In the example shown in <FIG>, the lighting assembly <NUM> may include one or more imagers <NUM> configured to capture image data in a field of view <NUM>. The imager <NUM> may be positioned within or coupled to the lighting assemblies <NUM> via a positioning assembly <NUM>. The imager <NUM> may be a charge-coupled device (CCD) imager, a complementary metal-oxide-semiconductor (CMOS) imager, other types of imagers, and/or combinations thereof. According to various examples, the imager <NUM> may include one or more lenses to collimate and/or focus the light emitted from the lighting assembly <NUM>.

The lighting assembly <NUM> may be implemented in a variety of configurations, which may include one or more light source(s) <NUM> configured to output one or more emissions <NUM> of light. In order to provide for flexibility in the payload <NUM>, the lighting assembly <NUM> may be implemented as a modular device that may be selectively connected to the drone <NUM>. Additionally, as later discussed in reference to <FIG>, the lighting assembly or a plurality of the lighting assemblies <NUM> may be supported by a collapsible supported linkage assembly. Accordingly, it shall be understood that variations in the lighting assemblies and corresponding articulating and positioning geometry are supported by the methods and systems discussed herein. An example of a lighting assembly with multiple positioning axes is further discussed in reference to <FIG>.

As shown in <FIG>, the lighting assembly <NUM> may be configured to illuminate an operating region <NUM> shown projected in the field of view <NUM> of the imager <NUM>. The emission <NUM> may be emitted from one or more of the light source(s) <NUM> in various wavelengths of light, which may range from infrared to ultraviolet and include the visible spectrum of wavelengths. In some embodiments, the emission <NUM> may be emitted as infrared light (e.g., near-infrared, infrared, and/or far-infrared). In other embodiments, visible light may be emitted as the emission <NUM> to illuminate the operating region <NUM>. Accordingly, the lighting assembly <NUM> may be flexibly applied to provide for various lighting operations including uniform illumination within the operating region <NUM>. Additionally, the systems discussed herein may provide support for various applications of machine vision including object detection, recognition, tracking, inventory, and various other vision related applications. A detailed example of an illumination method and related systems that may be implemented by the lighting assemblies and systems discussed herein is provided in <CIT>, "SYSTEMS AND METHODS OF ILLUMINATION".

In various examples, the lighting assembly <NUM> may be positioned or suspended from one or more positioning assemblies <NUM>, which may adjust a projection direction of the light source(s) <NUM> by controlling one or more actuators <NUM>. Accordingly, the positioning assemblies <NUM> may be configured to rotate and/or translate independently or in any combination. As shown, the system <NUM> may comprise a first positioning mechanism and a second positioning mechanism. In general, the positioning assembly <NUM> as discussed herein may be configured to control a direction of one or more light emissions <NUM> emitted from the light source(s) <NUM>. As demonstrated and further discussed further herein, each of the light source(s) <NUM> as well as the positioning assemblies <NUM> may be in communication with a lighting controller <NUM>, which may be configured to control a direction of the one or more lighting emissions <NUM> to illuminate the operating region <NUM>.

In various embodiments, the one or more positioning assemblies <NUM> may comprise one or more gimbaled arms, which may be maneuvered or adjusted in response to a movement (e.g., rotational actuation) of one or more actuators 140a and 140b. In this configuration, the controller <NUM> may be configured to control each of the actuators 140a and 140b to manipulate the orientation of the lighting assembly <NUM> and a corresponding direction of the emission <NUM> from the light source <NUM>. In this way, the positioning assembly <NUM> may control the rotation of the lighting assembly <NUM> about a first axis 154a and a second axis 154b. Such manipulation of the lighting assembly <NUM> may enable the controller <NUM> to direct the light source(s) <NUM> to selectively illuminate the operating region <NUM>.

The positioning assemblies <NUM> and actuators 140a and 140b, as discussed herein, may correspond to one or more electrical motors (e.g., servo motors, stepper motors, etc.). Accordingly, each of the positioning assemblies <NUM> (e.g., the actuators <NUM>) may be configured to rotate the lighting module <NUM> degrees or within the boundary constraints of lighting assembly <NUM> or other support structures that may support the lighting modules lighting assemblies <NUM>. The controller <NUM> may control the motors or actuators <NUM> of the lighting assemblies <NUM> to direct the emission or a plurality of coordinated lighting emissions <NUM> to illuminate the operating region <NUM>. In order to accurately direct the lighting assembly <NUM> to target a desired location, the controller <NUM> may be calibrated to control the position of the lighting assembly <NUM> to target locations in a shared grid or work envelope as further discussed herein.

<FIG> and <FIG> demonstrate a plurality or swarm of the drones <NUM> hovering above the operating region <NUM> in an organized formation <NUM>. Referring now to <FIG>, <FIG>, and <FIG>, each of the drones 102a, 102b, 102c, etc. may exchange position and flight information to control spacing and relative positioning to form the formation <NUM>. Though additional drones or duplicate devices may be illustrated in the figures, some reference numerals may be omitted and like reference numerals are used for like elements for clarity. In some implementations, each of the drones <NUM> may comprise peripheral sensors <NUM>, which may be configured to detect a proximity of one or more neighboring drones (e.g., 102a and 102b) of the formation <NUM>. The peripheral sensors <NUM> may correspond to one or more proximity sensors including but not limited to ultrasonic, image sensors, radar sensors or other forms of proximity sensors. In this way, the controller of each of the drones <NUM> may monitor the relative location and spacing of the neighboring drones and adjust the position to maintain the formation <NUM>.

The drones <NUM> may further comprise a communication interface, such that each of the drones <NUM> may communicate wirelessly to coordinate operations. The wireless communication among the drones <NUM> may provide for mutual control of spacing and orientation, such that the formation <NUM> may be accurately maintained. For example, in some examples, the controllers of the drones <NUM> may communicate directly among one another via a mesh network or communicate via a central controller or router. A drone control system <NUM> and corresponding controller and communication interface are discussed in detail in reference to <FIG>.

As discussed in reference to <FIG>, the drones <NUM> may be configured to couple with and interface with the payload <NUM> in the form of the lighting assembly <NUM>. As shown, each of the drones in the formation <NUM> is in connection with one the lighting assemblies <NUM>. In such implementations, the drone control system <NUM> may communicate with the lighting controller <NUM> to control the position of the light emissions <NUM> output from the light sources <NUM> to illuminate the operating region <NUM> in coordination. For example, based on a monitored and controlled spacing S between each of the drones <NUM> as provided by the formation <NUM>, the lighting controller <NUM> of each of the lighting assemblies <NUM> in connection with a corresponding drone <NUM> may adjust the emission <NUM>, such that combined emissions <NUM> may be controlled to provide coordinated lighting among each of the plurality of light sources 130a, 130b, 130c, 130d, 130e, 130f of each of the corresponding drones 102a, 102b, 102c, 102d, 102e, 102f.

In order to provide for the coordinated lighting emitted from each of the light sources 130a, 130b, 130c, 130d, 130e, 130f; the lighting controllers 150a, 150b, 150c, 150d, 150e, 150f may be configured to receive relative position and spacing information from of each of the corresponding drone control systems 210a, 210b, 210c, 210d, 210e, 210f. In this way, the lighting controllers <NUM> may determine the relative spacing and organization of the formation <NUM>, such that the relative origins of the emissions <NUM> from the light sources <NUM> of the lighting assemblies <NUM> may be determined or known. Accordingly, the lighting controllers <NUM> may calculated a trajectory of each of the emissions <NUM> to illuminate the operating region <NUM> in a coordinated pattern or shape illuminating a desired region or area of the operating region <NUM>.

For example, as shown in <FIG>, a first portion <NUM> of the operating region is illuminated by the combined light emitted from the emissions 132a, 132b, 132c, etc. <FIG> demonstrates a second portion <NUM> of the operating region <NUM> illuminated by the combined light emitted from the emissions 132a, 132b, 132c, etc. The first portion <NUM> illuminates a larger surface area or region of the operating region <NUM> than the second portion <NUM> by spreading the emissions <NUM> from the light sources <NUM> over the operating region <NUM>. In order to arrange the lighting assemblies <NUM> in this way, the lighting controllers <NUM> may coordinate the orientation of the light sources <NUM> via a central control system or a distributed control system incorporated in each of the controllers <NUM>. In this configuration, each of the controllers <NUM> may be configured to identify an orientation of the actuators <NUM> and the corresponding positions of the lighting assemblies <NUM>. Based on this information, the system <NUM> may be configured to map a combined illumination pattern or illumination coverage of each of the emissions <NUM>. In this way, the lighting assemblies <NUM> may provide for a coordinated lighting system <NUM> to provide a scalable, dynamic-lighting system operable to emit the various emissions of light as discussed herein.

As previously discussed, each of the lighting assemblies <NUM> may comprise one or more imagers <NUM>. In the exemplary embodiment, the lighting controllers <NUM> may process image data captured in each of the corresponding fields of view 125a, 125b, 125c, 125d, 125e, 125f may be configured to identify the extents of each of the corresponding light emissions <NUM> output from a connected drone (e.g. 132a from 102a) and each of the neighboring emissions 132b, 132d, and 132e. In this way, the lighting controllers <NUM> may adjust the focus or extent of the emissions <NUM> based on the illumination pattern of the combined emissions (e.g., 132a, 132b, 132d, and 132e) to ensure that the emissions <NUM> illuminate the targeted portion of the operating region <NUM> to provide for distributed, uniform illumination of the first portion <NUM>; focused, consistent illumination of second portion <NUM>; or coordinated illumination in various patterns or variations. Additionally, the number of lighting assemblies <NUM> and proportions or candle power of the emissions <NUM> may be scaled to illuminate the operating region <NUM> in various patterns or configurations.

In addition to the illumination of the portions <NUM>, <NUM> of the operating region, the lighting controllers <NUM> may further process the image data to identify obstructions interfering with the illumination. In such embodiments, the controllers <NUM> of each of the lighting assemblies <NUM> may be configured to detect the obstructions and communicate among one another to identify the best response to adjust the lighting assemblies <NUM> to illuminate the operating region <NUM>. The identification of obstructions may be based on a detection of an object in the image data. For example, if the first emission 132a from the first lighting assembly 120a is blocked or fails to reach a target region, the lighting controller 150a may identify that the obstruction based on inconsistencies or objects identified in the corresponding first field of view 125a. In response to the identification of the obstruction, additional lighting assemblies (e.g. 120b, 120d) may be controlled to illuminate a portion of the operating region <NUM> targeted for illumination by the first emission 132a. In this way, the coordinated lighting system <NUM> may provide for consistent illumination of the operating region <NUM>.

In the examples discussed in reference to the detection of obstructions and verification of the illumination from the emissions <NUM>, the lighting controllers <NUM> may be configured to adjust a focus or diameter of each of the emissions <NUM> as well as the orientation and trajectory of the emissions <NUM>. For example, each of the lighting assemblies <NUM> may comprise a focal lens and adjustment feature configured to adjust the focus of the emissions <NUM>, such that each may illuminate a desired portion of the operating region <NUM>. Additionally, the lighting controllers <NUM> may detect variations in the position of each of the emissions <NUM> impinging on surfaces in the operating region <NUM>. For example, if the first lighting controller 150a identifies that the second emission 132b is moving based on the image data captured in the first field of view 125a and/or based on an unexpected or unintended change in position identified via the drone control system <NUM>, the lighting system <NUM> may control lighting assemblies 120a, 120b, 120c, 120d, 120e, 120f to illuminate the regions illuminated or intended for illumination by the second emission <NUM> of the second lighting assembly 120b. In this way, the controllers <NUM> of each of the lighting assemblies <NUM> may adjust the trajectory of the emissions <NUM> to correct for variations in one or more of the light sources <NUM>.

<FIG>, <FIG>, <FIG>, and <FIG> demonstrate various examples of the coordinated lighting systems <NUM> implemented with collapsible armatures <NUM>. For clarity, the collapsible armatures <NUM> demonstrated in the respective figures may be referred to as follows: a first support frame 400a shown in <FIG>; a second support frame 400b shown in <FIG>; a third support frame 400c shown in <FIG>; and a fourth support frame 400d shown in <FIG>. In order to clearly describe the collapsible armatures <NUM>, the similar aspects of each of the implementations will first be described. As shown in the figures, numerous duplicate reference numerals are omitted for clarity. That is, only a sample of like structures and elements are labeled in the figures to ensure that the reference numerals do not mask the associated structures. However, like structures in each of the figures are clearly labeled such that they may be easily identified.

In general, the collapsible armatures <NUM> may be considered to provide a similar operation as the positioning of the drones <NUM> as previously discussed. For example, each of the collapsible armatures <NUM> may comprise a plurality of linkages <NUM> interconnected to each other via a plurality of joints <NUM>. The linkages <NUM> may be constructed of structurally rigid materials including, but not limited to, metals alloys, fiberglass, carbon fiber, and/or rigid polymeric materials. The joints <NUM> may be similarly constructed of rigid materials and may provide for rotation about at least one axis as demonstrated by the rotational arrows <NUM> demonstrated in <FIG> and referred to by reference numeral <NUM>. In this configuration, each of the collapsible armatures <NUM> may be configured to extend to an extended arrangement <NUM> and a collapsed arrangement <NUM>. Accordingly, each of the collapsible armatures <NUM> may be suspended from a support structure by supports <NUM> or hangers in the extended arrangement <NUM>, such that the lighting system <NUM> may provide for convenient and effective illumination of the operating region <NUM>.

As shown in <FIG>, <FIG>, <FIG>, and <FIG>, the collapsible armatures <NUM> are shown in the extended arrangement <NUM>. In this arrangement, the lighting assemblies <NUM> are positioned in a grid or predetermined geometric arrangement, which is programmed into each of the corresponding lighting controllers <NUM>. That is, based on the lengths of each of the linkages <NUM> and the spacing in the extended arrangement <NUM>, the relationship and first spacing or spatial relationship of each of the lighting controllers <NUM> may be fixed, such that the dimensional relationship among the lighting assemblies <NUM> is predetermined based on the arrangement of the corresponding support frame 400a, 400b, 400c, 400d, 400e. Accordingly, the first spacing and dimensional relationship or relative position of each of the lighting assemblies <NUM> and the position of each of the associated imagers <NUM> may be predetermined and fixed based on the arrangement of the collapsible armatures <NUM> in the extended arrangement <NUM>. Accordingly, in the extended arrangements <NUM>, the spacing or spatial relationship and arrangement of the lighting assemblies may be programmed into the lighting controllers <NUM>, such that calibration is unnecessary and setup of lighting systems <NUM> is expedited.

Based on the predetermined or fixed arrangement of the light assemblies <NUM> and the imagers <NUM>, the controllers <NUM> may be configured to process the image data concurrently or in rapid sequence so that image data representative of the operating region <NUM> is consistently captured and monitored by the system <NUM>. Accordingly, the system <NUM> may process the image data from the plurality of fields of view <NUM> to form a composite view of the operating region <NUM>. The composite view or, more generally, the relationship of the combined image data captured in the fields of view <NUM> may be predetermined based on the spacing of the imagers <NUM> in connection with the armatures <NUM> in the extended arrangement <NUM>. For example, the controllers <NUM> may be programmed such that the relationship of each of the positions of the fields of view <NUM> of the imagers <NUM> are programmed in the controllers <NUM>. In this way, the controllers <NUM> may capture the image data in each of the fields of view <NUM> and identify the relative position of various objects in a shared grid or work envelope, such that the position of an object in each of the fields of view <NUM> may be identified among the controllers <NUM> in any portion of the operating region <NUM>.

As shown in <FIG>, the predetermined spacing associated with the first frame 400a in the extended arrangement <NUM> is denoted as a first axial spacing <NUM>, and a second axial spacing <NUM>, where the first axis aligned with the first axial spacing <NUM> is arranged perpendicular to the second axis aligned the second axial spacing <NUM>. Additionally, each of the collapsible armatures <NUM> may be configured to arrange the lighting assemblies <NUM> along a plane extending along a third axis, which may be perpendicular to the first axis and the second axis. For example, the first axis, the second axis, and the third axis may correspond to the x-axis, y-axis, and z-axis, respectively.

In some embodiments, the spacing and alignment of the lighting assemblies <NUM> may not be aligned and evenly distributed as shown. For example, the geometry of the linkages <NUM> may vary such that the arrangement of the lighting assemblies <NUM> is not evenly distributed over the operating region <NUM>. However, the dimensional relationships among each of the lighting assemblies <NUM> may still be fixed or predetermined in the extended arrangement <NUM>, such that the lighting controllers <NUM> may be preconfigured and calibrated to provide coordinated control of the lighting assemblies <NUM> to provide for systematic and collaborative illumination of the operating region <NUM> without requiring calibration upon installation. In this way, the collapsible armature <NUM> may provide for a mechanical reference structure configured to maintain or set the spacing and relative alignment of the lighting assemblies <NUM> including the imagers <NUM>. In this way, the lighting systems <NUM> discussed herein may be particularly useful for portable lighting as a result of the ease and speed of installation in combination with the reduced proportions or a second spacing provided by the collapsed arrangement <NUM>.

As discussed herein, the arrangements of the collapsible armatures <NUM> and the predetermined spacing and relationships among the lighting assemblies <NUM> may further provide for coordinated operation of the imagers <NUM> to support object tracking, recognition, tracking, and various machine vision applications. Additionally, the image data captured by the imagers <NUM> may be adjusted or enhanced based on the light projected into the operating region <NUM> from the light sources <NUM>. For example, the lighting controllers <NUM> may adjust the emissions <NUM> from one or more of the light source(s) <NUM> to include various wavelengths of light, which may range from the ultraviolet to infrared and include the visible spectrum of wavelengths. In some embodiments, the emission <NUM> may be emitted as infrared light (e.g., near-infrared, infrared, and/or far-infrared). In other embodiments, visible light may be emitted as the emission <NUM> to illuminate the operating region <NUM>. Accordingly, the lighting assembly <NUM> may be flexibly applied to provide for various lighting operations including uniform illumination within the operating region <NUM>.

Referring now to <FIG>, <FIG>; the first frame 400a and the second frame 400b share the same configuration but include a different number of lighting assemblies <NUM> and corresponding frame proportions. As shown in <FIG> and <FIG>, the extended arrangement <NUM> provides for even spacing among the lighting assemblies with the first axial spacing <NUM> and the second axial spacing <NUM>. In the collapsed arrangement <NUM>, the first axial spacing is diminished to a second axial spacing, such that the linkages <NUM> may overlap if the lighting assemblies <NUM> are removed from the collapsible armature <NUM>. Alternatively, in the collapsed arrangement <NUM>, the armatures <NUM> may be compressed such that the linkages <NUM> scissor together about the joints <NUM> to the extent that the lighting assemblies <NUM> are positioned side-by-side with the first axial spacing <NUM> minimized or eliminated. For example, the lighting assemblies <NUM> may touch or only be separated by padding or insulation to prevent damage in transport.

Referring now to <FIG>, the third frame 400c is shown in the extended arrangement <NUM> and the collapsed arrangement <NUM>. In the example of the third frame 400c, the linkages <NUM> collapse along a first axis <NUM> in a scissoring motion about the joints <NUM>. Additionally, the third frame 400c may be configured to fold about a central support truss <NUM>. That is a first portion <NUM> of the linkages <NUM> and a second portion <NUM> of the linkages <NUM> may be configured to rotate inward as depicted by the arrows <NUM> in <FIG> about opposing joints <NUM> of the central support truss <NUM>. In this way, the third frame 400c may collapse about the central truss <NUM>, such that the linkages of the first portion <NUM> and the second portion <NUM> are rotated to align with a second axis <NUM> parallel to each other. Accordingly, the third frame 400c may provide for further compact arrangement of the lighting system <NUM>.

Referring now to <FIG>, the fourth frame 400d is shown in the extended arrangement <NUM> and the collapsed arrangement <NUM>. In <FIG>, a top-down view is shown and side views are shown in each of <FIG>. In the example of the fourth frame 400d, the linkages <NUM> first disconnect at a connection joint <NUM>. Once disconnected, the linkages <NUM> may be radially adjusted as shown by arrows <NUM> to align along a first axis <NUM>. Once aligned, the linkages <NUM> may collapse along the first axis <NUM> in a scissoring motion about the joints <NUM>. Additionally, the fourth frame 400d may comprise a plurality of radial spacing linkages <NUM>, which may be configured to connect to a plurality of radial linkages <NUM> to form a radial configuration <NUM> about the radial linkages <NUM>. Once the radial linkages <NUM> are aligned along the first axis <NUM> and collapsed about the joints <NUM>, the radial spacing linkages <NUM> may also collapse and rotate inward as depicted by the arrows <NUM> in <FIG>. In this way, the fourth frame 400d may collapse to a linear configuration <NUM> from the radial configuration <NUM> to provide a compact arrangement of the lighting system <NUM> for transport. Though specific examples are discussed in <FIG>, it shall be understood that the arrangements of the armatures <NUM> may be combined and scaled in various ways to suit a desired lighting and computer vision application.

Referring now to <FIG>, a schematic view of the lighting system <NUM> is shown comprising an exemplary implementation of the positioning assembly <NUM> referred to as an articulating head assembly <NUM>. Each of the articulating head assemblies <NUM> may be implemented as lighting module arrays comprising a plurality of articulating lighting modules 802a, 802b, etc. Each of the articulating head assemblies <NUM> may serve as an exemplary embodiment of the one or more positioning assemblies <NUM> in accordance with the disclosure. In the exemplary embodiment shown, the articulating head assembly <NUM> comprises five of the lighting modules 802a, 802b, 802c, 802d, 802e. The lighting modules 802a, 802b, etc. may be suspended from a central control arm <NUM> comprising a plurality of support arms <NUM>. Extending from each of the support arms <NUM>, a lateral support beam <NUM> or wing may extend laterally outward from each of the arms <NUM> in opposing directions. In this configuration, the lighting modules 802a, 802b, etc. are supported by the central control arm <NUM> in a distributed arrangement.

The central control arm <NUM> may be suspended from a support housing <NUM> along a first axis 812a (e.g., Y-axis). The support housing <NUM> may comprise the controller <NUM> and a first actuator 814a configured to rotate the central control arm <NUM> about the first axis 812a. A first lighting module 802a may be suspended along a second axis 812b (e.g., X-axis) extending between the support arms <NUM>. A second actuator 814b may be in connection with the support arms <NUM> and one of the lighting modules, for example the first lighting module 802a. The second actuator 814b may be configured to rotate the first lighting module 802a about the second axis 812b. In this configuration, the controller <NUM> may control the emission direction of the each of the lighting module 802a, 802b, etc. to rotate approximately <NUM> degrees about the first axis 812a and the second axis 812b.

Each of the lateral support beams <NUM> may support a pair of the lighting modules (e.g. 802b and 802c). That is, a first support beam 808a may support a second lighting module 802b on a first side <NUM> and a third lighting module 802c on a second side <NUM>. The first side <NUM> and the second side <NUM> of the first support beam 808a may extend in opposing directions from the first support beam 808a along a third axis 812c. A second support beam 808b may support a fourth lighting module 802d on the first side <NUM> and a fifth lighting module 802e on the second side <NUM>. The first side <NUM> and the second side <NUM> of the second support beam 808b may extend in opposing directions from the second support beam 808b along a fourth axis 812d. The third axis 812c and the fourth axis 812d may extend perpendicular to the second axis 812b.

Each of the first support beam 808a and the second support beam 808b may connect to each of the support arms <NUM> and rotate about the second axis 812b with the first lighting module 802a. Additionally, each of the lateral support beams may comprise at least one actuator configured to rotate the lighting modules 802b, 802c, 802d, and 802e about the third axis 812c and the fourth axis 812d. For example, the first support beam 808a may comprise a third actuator 814c in connection with the second lighting module 802b and the third lighting module 802c along the third axis 812c. The second support beam 808b may comprise a fourth actuator 814d in connection with the fourth lighting module 802d and the fifth lighting module 802e along the fourth axis 812d. In this configuration, the controller <NUM> may control the second actuator 814b to rotate each of the lighting modules 802b, 802c, 802d, and 802e about the second axis 812b. Additionally, the controller <NUM> may control the third actuator 814c to rotate the second and third lighting modules 802b and 802c about the third axis 812c. Finally, the controller <NUM> may control the fourth actuator 814d to rotate the fourth and fifth lighting modules 802d and 802e about the fourth axis 812d.

As previously discussed, each of the light modules 802a, 802b, etc. may comprise an imager <NUM>. In some embodiments, the articulating head assembly <NUM> may comprise a single imager <NUM> or an imager array. For example, the imager array may be formed as follows: the first lighting module 802a may comprise a first imager 124a, the second lighting module 802b may comprise a second imager 124b, the third lighting module 802c may comprise a third imager 124c, the fourth lighting module 802d may comprise a fourth imager 124d, and/or the fifth lighting module 802e may comprise a fifth imager 124e. Each of the imagers <NUM> may be configured to capture the image data in corresponding fields of view 24a, 24b, 24c, 24d, and 24e (not shown for clarity). The controller <NUM> may process the image data from each of the imagers <NUM> to identify a region of interest. Accordingly, the controller <NUM> may scan the image data from each of the imagers <NUM> and adjust the orientation of each of the lighting modules 802a, 802b, etc. to dynamically control the light in the surgical suite <NUM>.

Though the imagers <NUM> are discussed as being incorporated on each of the lighting modules 802a, 802b, etc., the system <NUM> may be configured to capture image data from any location in the surgical suite <NUM>. As further discussed in reference to <FIG>, a plurality of the articulating assemblies <NUM> may be controlled by a central controller <NUM> in communication with each of the controllers <NUM>. In such embodiments, the central controller <NUM> may be configured to process the image data from the one or more imagers <NUM> and communicate control signals for each of the plurality of lighting modules 802a, 802b, etc. and the actuators <NUM> of the articulating head assemblies <NUM>. Accordingly, the system <NUM> may be implemented in a variety of beneficial embodiments without departing from the scope of protection defined by the claims.

Referring to <FIG>, a block diagram of a coordinated lighting system <NUM> is shown. As discussed herein, the lighting system <NUM> may include one or more imagers <NUM> configured to capture image data from the working region <NUM> illuminated by the system <NUM>. The imagers <NUM> may be configured to relay visual information to a controller <NUM> of the lighting system <NUM>. The controller <NUM> may include a memory <NUM> and one or more processors <NUM>. The memory <NUM> may store computer executable commands (e.g., routines) which are controlled by the processor <NUM>. According to various examples, the memory <NUM> may include a light control routine and/or an image analyzing routine. In exemplary embodiments, the memory <NUM> may include control instructions configured to control one or more lighting control methods as discussed herein.

Once the image analyzing routine has processed the image data from the imager(s) <NUM>, the controller <NUM> may communicate one or more control instructions to a motor or actuator controller <NUM>. In response to the control signals, the motor controller <NUM> may control the actuators 140a, 140b or the positioning assemblies <NUM> to move, steer, or otherwise adjust an orientation of the lighting assemblies <NUM>. In this way, the controller <NUM> may direct the lighting assemblies <NUM> to emit the lighting emission(s) <NUM> and/or direct the field of view <NUM> to a desired location. The system <NUM> may additionally comprise one or more power supplies <NUM>. The power supplies <NUM> may provide for one or more power supplies or ballasts for various components of the lighting assemblies <NUM> as well as the actuators 140a, 140b or positioning assemblies <NUM>.

As discussed herein the controller <NUM> and/or the central controller <NUM> may comprise one or more processors <NUM>. The processor(s) <NUM> may be a microprocessor, micro-controller, digital signal processor, microcomputer, central processing unit, field programmable gate array, programmable logic device, state machine, logic circuitry, analog circuitry, digital circuitry, and/or any device that manipulates signals (analog and/or digital) based on operational instructions such as one or more application, utilities, an operating system, and/or other instructions. The memory <NUM> may be a single memory device or a plurality of memory devices that are either on-chip or off-chip. Such a memory device may be a read-only memory, random access memory, volatile memory, non-volatile memory, static memory, dynamic memory, flash memory, and/or any device that stores digital information. Accordingly, each of the processing and control steps discussed herein may be completed by one or more of the processors or processing units as discussed herein based on one or more routines, algorithms, processes, etc. that may be accessed in the memory <NUM>.

In some embodiments, the system <NUM> may further comprise one or more communication circuits <NUM>, which may be in communication with the processor <NUM>. The communication circuit <NUM> may be configured to communicate data and control information to a display or user interface <NUM> for operating the system <NUM>. The interface <NUM> may comprise one or more input or operational elements configured to control the system <NUM> and communicate data. The communication circuit <NUM> may further be in communication with additional lighting assemblies <NUM>, which may operate in combination as an array of lighting assemblies. The communication circuit <NUM> may be configured to communicate via various communication protocols. For example, communication protocols may correspond to process automation protocols, industrial system protocols, vehicle protocol buses, consumer communication protocols, etc. Additional protocols may include, MODBUS, PROFIBUS, CAN bus, DATA HIGHWAY, DeviceNet, Digital multiplexing (DM12612), or various forms of communication standards.

In various embodiments, the system <NUM> may comprise a variety of additional circuits, peripheral devices, and/or accessories, which may be incorporated into the system <NUM> to provide various functions. For example, in some embodiments, the system <NUM> may comprise a wireless transceiver <NUM> configured to communicate with a mobile device <NUM>. In such embodiments, the wireless transceiver <NUM> may operate similar to the communication circuit <NUM> and communicate data and control information for operating the system <NUM> to a display or user interface of the mobile device <NUM>. The wireless transceiver <NUM> may communicate with the mobile device <NUM> via one or more wireless protocols (e.g. Bluetooth®; Wi-Fi (<NUM>. 11a, b, g, n, etc.); ZigBee®; and Z-Wave®; etc.). In such embodiments, the mobile device <NUM> may correspond to a smartphone, tablet, personal data assistant (PDA), laptop, etc..

As discussed herein, the system <NUM> may comprise or be in communication with one or more servers or remote databases <NUM>. The remote database <NUM> may correspond to an information database, which may comprise identifying information configured to authenticate the identity of the staff or patients utilizing or illuminated by the system <NUM>. The controller <NUM> of the system <NUM> may be in communication with the remote database <NUM> via the communication circuit <NUM> and/or the wireless transceiver <NUM>. In this configuration, scanning data captured by the one or more imagers <NUM> may be processed by the controller <NUM> to authenticate an identity of the staff or patients locally and/or access information via the remote database <NUM>.

In various embodiments, the light sources <NUM> may be configured to produce un-polarized and/or polarized light of one handedness including, but not limited to, certain liquid crystal displays (LCDs), laser diodes, light-emitting diodes (LEDs), incandescent light sources, gas discharge lamps (e.g., xenon, neon, mercury), halogen light sources, and/or organic light-emitting diodes (OLEDs). In polarized light examples of the light sources <NUM>, the light sources <NUM> are configured to emit a first handedness polarization of light. According to various examples, the first handedness polarization of light may have a circular polarization and/or an elliptical polarization. In electrodynamics, circular polarization of light is a polarization state in which, at each point, the electric field of the light wave has a constant magnitude, but its direction rotates with time at a steady rate in a plane perpendicular to the direction of the wave.

As discussed, the lighting assemblies <NUM> may include one or more of the light sources <NUM>. In examples including a plurality of light sources <NUM>, the light sources <NUM> may be arranged in an array. For example, an array of the light sources <NUM> may include an array of from about 1x2 to about 100x100 and all variations therebetween. As such, the lighting assemblies <NUM> including an array of the light sources <NUM> may be known as pixelated lighting assemblies. The light sources <NUM> of any of the lighting assemblies <NUM> may be fixed or individually articulated. The light sources <NUM> may all be articulated, a portion may be articulated, or none may be articulated. The light sources <NUM> may be articulated electromechanically (e.g., a motor) and/or manually (e.g., by a user). In static, or fixed, examples of the light sources <NUM>, the light sources <NUM> may be assigned to focus on various predefined points.

Referring now to <FIG>, a block diagram of a drone control system <NUM> is shown. As shown, the drone control system <NUM> may comprise a controller <NUM> including one or more processors <NUM>, coupled to a memory <NUM> (e.g., a non-transitory computer readable storage medium), via an input/output (I/O) interface <NUM>. The drone control system <NUM> may also include motion controls <NUM>, power supply modules <NUM>, a navigation system <NUM>, and inertial measurement unit (IMU) <NUM>. In some implementations, the IMU may be incorporated into the navigation system <NUM>. The drone control system <NUM> may also include a coupling controller <NUM> configured to control the coupling component(s) used to couple/decouple the drone from other drones. The drone control system <NUM> may also include a payload engagement controller (not shown), a communication interface <NUM>, and one or more I/O devices <NUM>.

In various implementations, the drone control system <NUM> may be a uniprocessor system including one processor <NUM>, or a multiprocessor system including several processors <NUM> (e.g., two, four, eight, or another suitable number). The processor(s) <NUM> may be any suitable processor capable of executing instructions. For example, in various implementations, the processor(s) <NUM> may be general-purpose or embedded processors implementing any of a variety of instruction set architectures (ISAs), such as the ×<NUM>, PowerPC, SPARC, or MIPS ISAs, or any other suitable ISA. In multiprocessor systems, each processor(s) <NUM> may commonly, but not necessarily, implement the same ISA.

The memory <NUM> may be configured to store executable instructions, data, flight plans, flight control parameters, collective drone configuration information, drone configuration information, and/or data items accessible by the processor(s) <NUM>. In various implementations, the memory <NUM> may be implemented using any suitable memory technology, such as static random access memory (SRAM), synchronous dynamic RAM (SDRAM), nonvolatile/Flash-type memory, or any other type of memory. In the illustrated implementation, program instructions and data implementing desired functions, such as those described herein, are shown stored within the memory <NUM> as program instructions <NUM>, data storage <NUM> and flight controls <NUM>, respectively. In other implementations, program instructions, data, and/orflight controls may be received, sent, or stored upon different types of computer-accessible media, such as non-transitory media, or on similar media separate from the memory <NUM> or the drone control system <NUM>. Generally speaking, a non-transitory, computer readable storage medium may include storage media or memory media such as magnetic or optical media, e.g., disk or CD/DVD-ROM, coupled to the drone control system <NUM> via the I/O interface <NUM>. Program instructions and data stored via a non-transitory computer readable medium may be transmitted by transmission media or signals, such as electrical, electromagnetic, or digital signals, which may be conveyed via a communication medium such as a network and/or a wireless link, such as may be implemented via the communication interface <NUM>.

The communication interface <NUM> may correspond to a local mesh network topology of a centralized communication interface. For example, in the mesh network example, each of the controllers <NUM> of the drones <NUM> may serve as a communication node in direct or indirect, non-hierarchical communication with each of the other drones <NUM>. Mesh communication may be supported by various communication protocols, including but not limited to Bluetooth®, Bluetooth® low energy (BLE), Thread, Z-Wave, ZigBee, etc. In this configuration, the connected devices <NUM>, <NUM>, <NUM> may operate via a decentralized control structure. In some examples, the communication interface <NUM> may correspond to a conventional centralized or hierarchical interface. In such examples, the drones <NUM> may communicate via a central controller of hub. The centralized communication may be implemented by a variety of communication protocols in various combinations, including but not limited to, global system for mobile communication (GSM), general packet radio services (GPRS), Code division multiple access (CDMA), enhanced data GSM environment (EDGE), fourth-generation (<NUM>) wireless, fifth-generation (<NUM>) wireless, Bluetooth®, Bluetooth® low energy (BLE), Wi-Fi, world interoperability for microwave access (WiMAX), local area network (LAN), Ethernet, etc..

In one implementation, the I/O interface <NUM> may be configured to coordinate I/O traffic between the processor(s) <NUM>, the memory <NUM>, and any peripheral devices, the network interface and/or other peripheral interfaces, such as I/O devices <NUM>. In some implementations, the I/O interface <NUM> may perform any necessary protocol, timing or other data transformations to convert data signals from one component (e.g., memory <NUM>) into a format suitable for use by another component (e.g., processor(s) <NUM>). In some implementations, the I/O interface <NUM> may include support for devices attached through various types of peripheral buses, such as a variant of the Peripheral Component Interconnect (PCI) bus standard or the Universal Serial Bus (USB) standard, for example. In some implementations, the function of the I/O interface <NUM> may be split into two or more separate components, such as a north bridge and a south bridge, for example. Also, in some implementations, some or all of the functionality of the I/O interface <NUM>, such as an interface to the memory <NUM>, may be incorporated directly into the processor(s) <NUM>.

The motion controls <NUM> communicate with the navigation system <NUM> and/or the IMU <NUM> and adjust the rotational speed of each lifting motor to stabilize the drone and guide the drone along a determined flight plan. The navigation system <NUM> may include a GPS, indoor positioning system (IPS), IMU or other similar system and/or sensors that can be used to navigate the drone <NUM> to and/or from a location. The payload engagement controller communicates with the actuator(s) or motor(s) (e.g., a servo motor) used to engage and/or disengage items.

The coupling controller <NUM> communicates with the processor <NUM> and/or other components and controls the coupling, data and/or resources sharing between the drone <NUM> and other drones in the formation <NUM>. For example, if the coupling component is an electromagnet, the coupling controller <NUM> may be utilized to activate the electromagnet to couple the drone <NUM> with another drone or deactivate the electromagnet to decouple the drone <NUM> from another drone.

The communication interface <NUM> may be configured to allow data to be exchanged between the drone control system <NUM>, other devices attached to a network, such as other computer systems (e.g., remote computing resources), and/or with drone control systems of other drones. For example, the communication interface <NUM> may enable communication between the drone <NUM> that includes the control system <NUM> and a drone control system of another drone in the formation <NUM>. In another example, the control system <NUM> may enable wireless communication between the drone <NUM> and one or more remote computing resources. For wireless communication, an antenna of a drone and/or other communication components may be utilized. As another example, the communication interface <NUM> may enable wireless or wired communication between numerous drones. For example, when drones are coupled, they may utilize a wired communication via the coupling components to communicate.

When drones are not coupled, they may utilize wireless communication to communicate. In various implementations, the communication interface <NUM> may support communication via wireless general data networks, such as a Wi-Fi, satellite, and/or cellular networks.

The I/O devices <NUM> may, in some implementations, include one or more displays, imaging devices, thermal sensors, infrared sensors, time of flight sensors, accelerometers, pressure sensors, weather sensors, cameras, gimbals, landing gear, etc. Multiple I/O devices <NUM> may be present and controlled by the drone control system <NUM>. One or more of these sensors may be utilized to assist in landing as well as to avoid obstacles during flight.

As shown in <FIG>, the memory <NUM> may include program instructions <NUM>, which may be configured to implement the example processes and/or sub-processes described herein. The data storage <NUM> may include various data stores for maintaining data items that may be provided for determining flight plans, landing, identifying locations for disengaging items, engaging/disengaging the pushing motors, etc. In various implementations, the parameter values and other data illustrated herein as being included in one or more data stores may be combined with other information not described or may be partitioned differently into more, fewer, or different data structures. In some implementations, data stores may be physically located in one memory or may be distributed among two or more memories.

It will be understood that any described processes or steps within described processes may be combined with other disclosed processes or steps to form structures within the scope of the present device. The exemplary structures and processes disclosed herein are for illustrative purposes and are not to be construed as limiting.

It is also to be understood that variations and modifications can be made on the aforementioned structures and methods without departing from the concepts of the present device, and further it is to be understood that such concepts are intended to be covered by the following claims unless these claims by their language expressly state otherwise.

Claim 1:
A system (<NUM>) for controlling a plurality of lighting assemblies (<NUM>) configured to selectively illuminate an operating region (<NUM>) and a plurality of imagers (<NUM>) configured to capture image data in a plurality of fields of view (<NUM>) in the operating region (<NUM>), the system (<NUM>) comprising:
a collapsible armature (<NUM>) comprising a plurality of linkages (<NUM>) configured to extend between an extended arrangement and a collapsed arrangement, wherein the extended arrangement positions the lighting assemblies (<NUM>) in a first spacing and the collapsed arrangement positions the lighting assemblies (<NUM>) in a second spacing; and
a controller (<NUM>) configured to:
receive the image data from a plurality of fields of view (<NUM>) of the plurality of imagers (<NUM>) in the operating region (<NUM>);
control an orientation of each of the lighting assemblies (<NUM>) in the extended arrangement based on the predetermined first spacing;
control a direction of lighting emissions from each lighting assembly (<NUM>) based on the orientation;
detect at least one object in the fields of view (<NUM>) and track the at least one object among the fields of view (<NUM>) in a shared grid based on a predetermined spatial relationship set by the first spacing; and
control the lighting assemblies (<NUM>) to illuminate the at least one object in the operating region (<NUM>), wherein the direction of the lighting emissions and a corresponding location in the operating region (<NUM>) impinged upon by the lighting emissions is adjusted by the controller (<NUM>) based on the predetermined relationship of the lighting assemblies (<NUM>) set by the first spacing, and wherein the first spacing is stored in the controller (<NUM>) identifying the relative position of each light source of the lighting assemblies (<NUM>) in the extended arrangement.