Systems and methods for shaping a medium

Abstract

A system includes: a medium disposed on a base; a plurality of transducers coupled to the base; and a controller communicatively coupled to the plurality of transducers such that each individual transducer of the plurality of transducers can be individually addressed by the controller. The controller is configured to receive feedback and direct activation of at least some of the individual transducers of the plurality of transducers based on the feedback to move the medium on the base to produce a shaped surface.

Description

[0001] Cross - reference to related applications

[0002] This application claims priority and the benefit of U.S. Provisional Application No. 62 / 879,888, titled "Systems and Methods for Controlling Granular Materials", filed on July 29, 2019, which is hereby incorporated by reference in its entirety for all purposes. Background Art

[0003] This disclosure generally relates to systems and methods for generating programmable three - dimensional special effects, and more particularly, to techniques for generating special effects using granular particles.

[0004] This section is intended to introduce to the reader various aspects of the technology that may be related to various aspects of the present disclosure. It is believed that this discussion will be helpful in providing background information to the reader so as to better understand the various aspects of the present disclosure. Accordingly, it should be noted that these statements are to be read in this context and are not an admission of prior art. Throughout amusement parks and other entertainment venues, special effects can be used to help guests immerse themselves in the experience of a ride or attraction. Immersive environments can include three - dimensional (3D) props and scenery pieces, robotic or mechanical elements, and / or display surfaces presenting media. Additionally, immersive environments can include audio effects, smoke effects, and / or motion effects. Thus, an immersive environment can include a combination of dynamic and static elements. However, the installation of immersive environments is complex, and some elements of immersive environments are difficult to update or change to incorporate new narratives. With the increasing sophistication and complexity of modern ride attractions, and the corresponding increase in expectations among customers at theme or amusement parks, improved and more creative attractions, including ride attractions with more complex immersive environments, are desirable. Summary of the Invention

[0005] A summary of certain embodiments disclosed herein is set forth below. It should be understood that these aspects are merely presented to provide the reader with a brief summary of these certain embodiments and are not intended to limit the scope of the present disclosure. Indeed, the present disclosure may include a variety of aspects that may not be set forth below.

[0006] In an embodiment, a system includes: a medium disposed on a base; a plurality of transducers coupled to the base; and a controller communicatively coupled to the plurality of transducers such that each individual transducer of the plurality of transducers can be individually addressed by the controller. The controller is configured to receive feedback and, based on the feedback, direct activation of at least some of the individual transducers of the plurality of transducers to move the medium on the base to create a shaped surface.

[0007] In an embodiment, a system includes: a medium disposed on a base; a plurality of transducers coupled to the base; a projector configured to project an image toward the base; and a controller communicatively coupled to the plurality of transducers and the projector. Each of the plurality of transducers is configured to be activated to cause local vibrations within the medium, and the controller is configured to: receive feedback indicative of an operating parameter of the system; direct at least a portion of the transducers of the plurality of transducers to be activated based on the feedback to form a shaped surface from the medium on the base; and in response to the feedback, direct the projector to project the image toward the medium and / or the base.

[0008] In an embodiment, a system includes: a base; a medium disposed on the base; a plurality of transducers coupled to the base; a user interface; and a controller communicatively coupled to the plurality of transducers and the user interface. Each of the plurality of transducers is configured to be activated to cause local vibrations within the medium, and the controller is configured to: receive feedback indicative of an operating parameter of the system from the user interface; and based on the feedback, direct at least a portion of the transducers of the plurality of transducers to be activated to move the medium to form a shaped surface on the base. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters represent like parts throughout the drawings, wherein:

[0010] Figure 1 is a top view of an embodiment of a control system according to aspects of the present disclosure, the control system configured to generate and control the layout, orientation, or positioning of granular particles to form a shaped surface;

[0011] Figure 2 is a side view of an embodiment of a control system according to aspects of the present disclosure, the control system having transducers that emit energy to cause movement of granular particles;

[0012] Figure 3 is a side view of an embodiment of a control system according to aspects of the present disclosure, the control system having transducers that are activated to orient granular particles in a specific profile to form a shaped surface;

[0013] Figure 4 is a schematic view of an embodiment of a control system according to aspects of the present disclosure, the control system having granular particles, a shaped surface, transducers, actuators, and a projector;

[0014] Figure 5Schematic view of an embodiment of a control system according to an aspect of the present disclosure, the control system having different user interfaces configured to receive user input; and

[0015] Figure 6 Schematic diagram of an embodiment of a control system according to an aspect of the present disclosure, wherein a user can be positioned on a granular surface formed by the control system. Detailed Description

[0016] One or more specific embodiments will be described below. To provide a concise description of these embodiments, not all features of the actual implementation are described in the specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as meeting system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be understood that such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from the present disclosure, such development efforts will merely be routine tasks of design, fabrication, and manufacturing.

[0017] When introducing the elements of the various embodiments of the present disclosure, the articles "a", "an", "the", and "said" are intended to mean that there is one or more of the elements. The terms "comprising", "including", and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. One or more specific embodiments of the present embodiments described herein will be described below. To provide a concise description of these embodiments, not all features of the actual implementation may be described in the specification. It should be noted that in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve the developer's specific goals, such as meeting system-related and business-related constraints, which may vary from one implementation to another. In addition, it should be understood that such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from the present disclosure, such development efforts will merely be routine tasks of design, fabrication, and manufacturing.

[0018] The present disclosure relates to systems and methods for forming programmable and dynamic three-dimensional (3D) effects using a medium such as shaped granular material. In embodiments, the disclosed shaped granular material effects are provided within an entertainment venue such as an amusement park or a theme park. Thus, the shaped granular material effects can be used to create 3D objects (surfaces, prop elements, textures, etc.) within an attraction or a show. Additionally, the shaped granular material effects can move or shift as part of an overall immersive environment, thereby creating more complex environmental cues to help immerse guests. In another example, the system can be implemented as an interactive display, and the shaped granular material can form a contour onto which an image can be projected to create a more realistic or enhanced image. Embodiments of the present disclosure include systems that can move granular particles into a profile or pattern of a specific shape based on operator input. The granular material can be formed from granular particles. The granular material can be an aggregate material. As used herein, granular particles can include particles of any suitable size, such as sand, sugar, salt, metal powder, polystyrene, foam, acrylic beads, sawdust, glass microspheres, another suitable particle, or any combination thereof. The granular particles can include different types (sizes, materials) of particles or can be homogeneous (e.g., of the same type). The granular particles can be selected based on optical properties such as fluorescence or reflectivity to enhance a particular illusion. Additionally, although the present disclosure primarily discusses the manipulation of granular particles, in other embodiments another medium such as a fluid (e.g., gas, liquid, gel) can be used and manipulated.

[0019] The granular particles can provide a surface for a malleable and easily replaceable immersive environment. However, it is complex to achieve upright structures and certain desired shapes or profiles using granular particles. Thus, automatically moving and positioning the granular particles in a user-defined manner can enhance the formation of the granular particles into various profiles. According to embodiments of the present disclosure, a system can have granular particles disposed on a surface. The system further includes one or more individually addressable transducers (e.g., acoustic transducers) that act to cause the granular particles to vibrate. Each transducer can be controlled to emit energy (e.g., via sound waves, mechanical waves, pressure waves) having specific characteristics in a specific direction such that the combined effect of all the total waves emitted by the transducers moves the granular particles into a desired profile.

[0020] In an embodiment, a transducer causes vibration of granular particles. The disclosed arrangement can be contrasted with systems such as a shaker table that transmits vibration through a single vibrating plate such that granular particles settle into the nodes of the plate. In an embodiment, the container or base that houses the granular particles and to which the transducer is coupled can include an internal damping surface such that the vibration caused by each of the transducers is not transmitted through the base itself or has limited transmission through the base. This allows for local and predictable vibration effects in the granular particles caused by each transducer that are not confused or significantly diluted by the vibration of the entire base. In another embodiment, the transducer can directly cause local vibration of the base such that the base vibrates by an amount commanded by the drive signal of each transducer. The vibration can be based on specific attributes of the emissions generated by each of the corresponding transducers to move the granular particles into various positions or orientations relative to each other and / or relative to the base. Maintaining the vibration can also hold the position of the granular particles to maintain a desired profile. The configuration of the transducers that cause the vibration can be automatically adjusted and the granular particles moved accordingly based on user input based on the desired profile.

[0021] Controlled shaping of the granular particles can allow dynamic and complex upright structures to form and disappear as needed. The upright structures can be enhanced with projection mapping that coordinates with transducer control to create illusions on a wide surface using inexpensive and easily maintained granular materials. In this way, projection mapping can be used to project an image onto the floor surface to enhance the three-dimensional illusion. Three-dimensional illusions based on the floor are generally complex and may be difficult to effectively maintain an illusion of depth involving a planar floor material. However, in the case where the user also traverses the floor, it may not be desirable to create a shaped surface on the floor. The disclosed techniques provide a floor surface with depth and texture to enhance the three-dimensional illusion generated by the projected image. For example, an immersive environment can include a floor surface on which the user walks and that is formed of or includes sand or other granular particles. For example, a rippling water illusion can be generated using shaped sand in combination with a projected image. The shaped surface enhances the water illusion without involving an expensive shaped display surface.

[0022] The disclosed techniques also allow for reshaping or replenishing the granular particles via agitation after an undesired movement and / or disruption (e.g., footprints) of the granular particles caused by the user's interaction with the granular particles, or for removing trash or debris that may interfere with the programmed projection mapping on the floor surface. Agitation or programmed activation of the transducers can smooth or shape the granular particles in the immersive environment to reset the floor after each attraction operation cycle. In this way, the provided interactive floor surface suitable for three-dimensional illusions is cost-effective and easy to maintain.

[0023] Turning now to the drawings, Figure 1FIG. 0 is a schematic top view of an embodiment of the formed surface 24 formed by the control system 50, the control system being configured to generate and control the pattern, orientation, or positioning of the granular particles 52. The formed surface 24 is depicted as a Zen garden and includes a pattern of waves 30 distributed in the pattern. However, it should be noted that the depicted formed surface 24 is by way of example, and other configurations are conceivable. In addition, during the course of an event or attraction, the depicted formed surface 24 may transition to other formed surfaces 24. That is, the formed surface 24 may be dynamic or static, as provided herein.

[0024] The granular particles 52 may be disposed on the underlying base 54 in an amount that at least partially covers the base 54 (e.g., covers at least 20% of the surface area of the base 54, at least 50% of the surface area). In one embodiment, the base 54 may include a lip or barrier 56 around at least a portion of the perimeter of the base 54 to prevent the granular particles 52 from moving off of the base 54. That is, the barrier 56 may contain the granular particles 52 on the base 54 and allow the granular particles 52 to be subjected to the vibratory effects caused by the control system 50. In additional or alternative embodiments, the barrier 56 may be movable and / or the control system 50 may not include the barrier 56 to allow the granular particles 52 to more easily flow off of the base 54 (e.g., in a waterfall effect or to allow for cleaning or replacement). For example, when the used granular particles 52 are to be replaced, the granular particles 52 may be directed or forced off of the base 54 to clear the base 54 of the granular particles 52, and new granular particles 52 may be added to the base 54.

[0025] The control system 50 includes a plurality of transducers 58 (e.g., arranged in an array) that can be activated to move granular particles 52 relative to the base 54 so as to form a desired shaped surface 24 of the granular particles 52 on the base 54. Each transducer 58 can be coupled to the base 54 via a housing 59. The housing 59 can include one or more damping structures to limit the transfer of energy from the activated transducer 58 to the coupled base 54 and / or to transfer energy between the transducers 58. The damping structure can include acoustically absorptive or mechanically absorptive materials, such as foam, an air bladder, or other structures having air gaps. For example, individual transducers 58 can be positioned in direct or indirect contact with the base 54, including around at least the perimeter of the base 54 (e.g., against the barrier 56 and / or the sides of the base 54) and / or above or below the base 54 relative to the vertical axis 60. In an embodiment, upon activation, each transducer 58 can emit waves that cause vibrations that are transmitted through and / or across the granular particles 52 to displace and excite (e.g., vibrate) the granular particles 52 according to the drive signal of each transducer 58. The waves can be controlled to move and orient the granular particles 52 in a certain manner to produce the desired shaped surface 24 from the granular particles 52. In an exemplary embodiment, the waves can include sound waves or sonic waves (e.g., having low frequencies that may not be audible to the human ear). In additional or alternative embodiments, the waves can include mechanical waves (e.g., physical vibrations of the base 54). In certain embodiments, the base 54 can be segmented. Each section of the base 54 can include only a portion of the transducers 58 and can be physically separated from adjacent sections via an intermediate structure or an air gap to damp vibrations between adjacent base sections. In this way, the vibrations of the base 54 in each section can have a reduced impact on adjacent sections.

[0026] Each transducer 58 can be controlled independently of one another to direct the particulate grains 52 onto the forming surface 24 and transition to different forming surfaces 24 as desired. The vibrations generated can cause the particulate grains 52 to move towards or away from the base 54 relative to the vertical axis 60 (e.g., orthogonal to the plane formed by the transverse axis 62 and the longitudinal axis 64) and / or cross the vertical axis 60. Maintaining the vibrations can also hold the particulate grains 52 in a particular orientation. In other words, activating the transducers 58 to cause vibrations can initially cause the particulate grains 52 to move in a particular direction and move onto the forming surface 24 of a certain profile or feature. As the transducers 58 remain active, the profile of the particulate grains 52 is maintained. It should be noted that while maintaining the profile of the particulate grains 52, the particulate grains 52 can continue to oscillate. Thus, the maintained profile of the particulate grains 52 can be considered a standing wave, which can include a resonant frequency in all or part of the particulate grains 52. However, the general position of the particulate grains 52 can be substantially maintained to hold the profile of the particulate grains 52. In fact, a standing wave of particulate grains 52 can be generated based on the properties of the particulate grains 52, such as the size, color, mass, etc. of the particulate grains 52. In one embodiment, an object or prop 66 can form part of the control system 50. The presence of the prop 66 can affect the forming surface 24, for example, by creating an obstacle to the propagation of the plane wave through the base 54. In an embodiment, the vibrations can have sufficient force to move one or more props 66 to a new position on the base 54 in a controlled manner. Such movement can be part of a desired illusion.

[0027] It should be noted that the particulate material including the particulate grains 52 can be selected based on the desired properties of the particulate grains 52, such as the desired movement or appearance of the particulate grains 52. For example, the particulate grains 52 can each have a particularly selected size. Larger-sized particulate grains 52 can be held more stably than smaller-sized particulate grains 52, but smaller-sized particulate grains 52 can be moved more easily than larger-sized particulate grains 52. The particulate grains 52 can also have a certain surface characteristic, such as a specific roughness. For example, increasing the roughness of the surface of each particulate grain 52 causes the positions of the particulate grains 52 relative to one another to be held more firmly due to increased friction between the particulate grains. Increased friction can be further achieved by forming the particulate grains 52 into a geometry with an increased surface area to enable greater contact between the particulate grains 52. The particulate grains 52 can have additional or alternative properties that can be selected based on the particular application of the control system 50, such as visual appearance (e.g., color, shape), mass, specific heat, magnetic properties, chemical properties, electrical properties, another suitable property, or any combination thereof.

[0028] Figure 2A side view of an embodiment of a control system 50 having a base 54, a barrier 56, and a transducer 58. As shown in the side view, the transducer 58 may be disposed on or in the base 54 and on or in one or more side barriers 56 (e.g., one or more side barriers 56 extending parallel to the vertical axis 60). As illustrated, each transducer 58 is configured to cause local vibration of the particulate particles 52, whereby the vibration is caused by the emitted wave 100. Each wave 100 may continuously displace the medium (e.g., displace air for sound waves, displace the base 54 for mechanical waves) and be emitted, having the characteristic of alternating the medium between a wave crest 102 (e.g., high point) and a wave trough 104 (e.g., low point). Each wave 100 may have a characteristic amplitude 106, which is the difference between the wave crest 102 and the wave trough 104, and a period 108, which is a complete cycle or completion of the wave crest 102 and the wave trough 104. Each transducer 58 may emit waves 100 of different shapes depending on the orientation of the transducer 58 relative to the base 54 and the control signal driving the transducer 58. For example, a first transducer 58A may cause vibration orthogonal to the plane formed by the axes 62, 64 by emitting a first wave 100A, and a second transducer 58B may cause vibration orthogonal to the plane formed by the axes 62, 64 by emitting a second wave 100B, which may have a greater amplitude 106 and a longer period 108 than the amplitude and period of the first wave 100A. In an alternative embodiment, the first wave 100A may have the same period 108 as the second wave 100B and / or may have the same amplitude 106 as the second wave 100B, but the first wave 100A may be generated at a different time than the second wave 100B. That is, the first wave 100A may be similar in shape to the second wave 100B, but the first wave 100A may have wave crests 102 and wave troughs 104 that are in different positions relative to the vertical axis 60 compared to the wave crests 102 and wave troughs 104 of the second wave 100B, respectively.

[0029] Waves 100A, 100B may not interfere with each other to modify the respective waves 100A, 100B. However, certain transducers 58 may emit waves that do interfere with each other. For example, a third transducer 58C may emit a wave that is orthogonal to the plane formed by axes 60, 62 (e.g., parallel to the longitudinal axis 64), the wave having a third wave 100C that interferes with another fourth wave 100D that is orthogonal to the plane formed by axes 60, 62 and is emitted by a fourth transducer 58D. In the illustrated embodiment, the third transducer 58C may be positioned directly across from the fourth transducer 58D such that the third wave 100C and the fourth wave 100D are emitted toward each other. Emitting the third wave 100C and the fourth wave 100D directly toward each other may combine the waves 100C, 100D. In other words, the third wave 100C and the fourth wave 100D may be superimposed based on the respective displacements caused by the third wave 100C and the fourth wave 100D, and a superimposed wave 110 is produced. For example, at a first location 112, where the respective wave crests 102 of the third wave 100C and the fourth wave 100D are substantially aligned, the third wave 100C and the fourth wave 100D may be added together. However, at a second location 114, the wave crest 102 of the fourth wave 100D may be substantially aligned with the wave trough 104 of the third wave 100C. As a result, the third wave 100C may be subtracted from the fourth wave 100D, and the third wave 100C and the fourth wave 100D may substantially cancel each other out. Different transducers 58 may be controlled to produce a superimposed wave 110 having a particular shape that may not be effectively produced by the individual transducers 58 in other ways, in order to produce a particular shaped surface of the particulate particles 52 (see Figure 1 ). It should be noted that although Figure 2 the superimposed wave 110 is illustrated as being produced by transducers 58C, 58D positioned relative to each other, the superimposed wave 110 may additionally or alternatively be produced by the transducers 58 at different positions relative to each other. For example, a first wave 100A emitted by a first transducer 58A may interfere with the third wave 100C and / or the fourth wave 100D to change the shape of the superimposed wave 110.

[0030] Each transducer 58 can also be configured to move relative to the base 54 and the barrier 56 to change the location of local vibration propagation. For example, each transducer 58 can be mechanically actuated relative to the vertical axis 60, the horizontal axis 62, and / or the longitudinal axis 64. Additionally or alternatively, each transducer 58 can be rotated (e.g., about an axis extending parallel to the vertical axis 60, an axis extending parallel to the horizontal axis 62, and / or an axis extending parallel to the longitudinal axis 64). Changing the orientation of the transducer 58 to change the properties of the propagating vibration can also change how the granular particles 52 move relative to the base 54, thereby changing the profile of the granular particles 52. In additional or alternative embodiments, a portion of the base 54 and / or the barrier 56 can be configured to move. As an example, a portion of the base 54 can move orthogonally to the plane formed by the axes 62, 64. Accordingly, the granular particles 52 disposed at that portion of the base 54 can also move orthogonally to the plane formed by the axes 62, 64 and the base 54 to change the profile of the granular particles 52. Further, the movement of the base 54 and / or the barrier 56 can change the properties of the waves 100 emitted by the transducers 58, further changing the resulting movement of the granular particles 52. For example, moving a portion of the base 54 and / or the barrier 56 can deflect, diffract, refract, etc., one of the waves 100.

[0031] The control system 50 can additionally include other components that can be used to move the granular particles 52. For example, the control system 50 can also include a fan, a magnet (e.g., for granular particles 52 having magnetic properties), a fluid injector, another suitable component, or any combination thereof. Such components can also be controlled to facilitate generating a desired profile with the granular particles 52. In one example, the control system 50 can activate one or more electromagnets coupled to the base 54 to enhance the action of the active transducers 58 on magnetic or metallic granular particles 52. The polarity of the magnetic force can be used to generate a desired shape or pattern.

[0032] Figure 3 is a side view of an embodiment of the control system 50 having transducers 58 activated to orient the granular particles 52 in a particular profile 140. In the illustrated embodiment, the profile 140 includes an approximately triangular shape extending from the base 54 relative to the vertical axis 60. For example, certain transducers 58 can be activated to cause vibrations in the granular particles 52, while the remaining transducers 58 (e.g., the fifth transducer 58E and the sixth transducer 58F) can be deactivated from causing vibrations. As a result, the granular particles can move away from the deactivated transducers 58E, 58F and move toward and / or stack near the activated transducers 58. Continuously activating the transducers 58 in the described manner to maintain the vibration can maintain the profile 140.

[0033] Figure 4Schematic diagram of an embodiment of a control system 50, the control system 50 having granular particles 52, a base 54, a transducer 58, an actuator 158 configured to move the transducer 58 relative to the base 54, and a projector 160 that can project an image onto the granular particles 52 and the base 54. The transducer 58 can cause the granular particles 52 to form a specific contour, and the projector 160 can project an image onto the formed contour of the granular particles 52, such as onto the surface of the granular particles exposed to the projector 160. Additionally, the actuator 158 can be controlled to control the position or orientation of the transducer 58 relative to the base 54. For example, the actuator 158 can be configured to move (e.g., linearly) relative to a vertical axis 60, a horizontal axis 62, and / or a longitudinal axis 64, and / or can rotate about an axis oriented in any manner relative to the vertical axis 60, the horizontal axis 62, and the longitudinal axis 64. The actuator 158 can include a spring, an electric actuator, a pneumatic actuator, a hydraulic actuator, another suitable actuator, or any combination thereof, which can be operated by a controller 162 to move the transducer 58 relative to the base 54. As mentioned, such movement of the actuator 158 can change how waves are emitted by the transducer 58 and can change how the granular particles 52 move relative to the base 54.

[0034] The control system 50 can include a controller 162 having a memory 164 and a processor 166. The memory 164 can include volatile memory, such as random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM), an optical disc drive, a hard disk drive, a solid-state drive, or any other non-transitory computer-readable medium including instructions for operating the control system 50. The processor 166 can be configured to execute such instructions. For example, the processor 166 can include one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), one or more general-purpose processors, or any combination thereof. The controller 162 can also include a user interface 168, such as a touch screen, a trackpad, buttons, switches, another suitable component, or any combination thereof, with which a user can interact to operate the control system 50. The controller 162 can receive user input as a result of an interaction between the user and the user interface 168 and can operate the transducer 58, the actuator 158, and / or the projector 160 based on the user input.

[0035] The controller 162 can be communicatively coupled to the transducer 58 and the projector 160 to project an image onto the contour of the granular particles 52. In one embodiment, the transducer 58 and / or the actuator 158 can be operated to move the granular particles 52, while the projector 160 can simultaneously project multiple image frames onto the granular particles 52 to produce a three-dimensional video animated by the granular particles 52. For example, the transducer 58 can be pre-programmed to emit specific waves at various times during the operation of the control system 50, the actuator 158 can be pre-programmed to move the transducer 58 at various times during the operation of the control system 50, and the projector 160 can also be pre-programmed to project specific images at various times during the operation of the control system 50. The coordination between the actuator 158, the transducer 58, and the projector 160 can enable video animation of the granular particles 52. The controller 162 can be configured to store different combinations of the pre-programmed operations of the transducer 58, the actuator 158, and / or the projector 160. Such combinations can be selectable via the user interface 168, and the control system 50 can operate the transducer 58, the actuator 158, and / or the projector 160 based on the selected combination.

[0036] In additional or alternative embodiments, the projector 160 can project an image based on the contour of the granular particles 52. As an example, the controller 162 can be communicatively coupled to a sensor 170 configured to determine operating parameters of the control system 50, such as the current contour of the granular particles 52. The sensor 170 can determine the positioning of the granular particles 52 relative to the vertical axis 60, the horizontal axis 62, and / or the longitudinal axis 64 relative to the base 54. The projector 160 can receive feedback indicating the positioning from the sensor 170, and based on the determined positioning, the projector 160 can project a corresponding image. For example, the projector 160 can project a first color onto a first region of the base 54 of the granular particles 52 stacked at a first height relative to the vertical axis 60, and the projector 160 can project a second color onto a second region of the base 54 of the granular particles 52 stacked at a second height relative to the vertical axis 60. Adjusting the contour of the granular particles 52 can cause the projector 160 to automatically change the image projected onto the granular particles 52 based on the feedback transmitted by the sensor 170. For example, the user interface 168 can be used to control the transducer 58 and / or the actuator 158 to change the contour of the granular particles 52, and the projector 160 can project an image onto the granular particles 52 accordingly. In this way, the projector 160 can dynamically map an image onto the exposed surfaces of multiple granular particles 52.

[0037] Figure 5FIG. 0 is a schematic view of an embodiment of a control system 50 having different user interfaces 168 configured to receive user input. In the illustrated embodiment, control system 50 includes a first user interface 168A utilized by a first user 200A and a second user interface 168B utilized by a second user 200B. The first user interface 168A may include a joystick, slider, knob, switch, button, another suitable component, or any combination thereof that enables the first user 200A to directly control at least one of the transducer 58 and / or actuator 158 (such as adjusting the position of one of the transducer 58 and / or actuator 158 relative to the base 54). The first user 200A may additionally or alternatively use the first user interface 168A to adjust the wave emitted by one of the transducers 58. To this end, the controller 162 is configured to receive feedback (e.g., user input) indicative of the interaction between the first user 200A and the first user interface 168A, and the controller 162 may adjust the operation of the transducer 58 and / or actuator 158 based on the received feedback. In this manner, the first user 200A can use the first user interface 168A to change how the wave is emitted and can directly change the profile of the particulate 52. The user interface 168 can be used to train the control system 50 to form a desired shape. For example, the user input may indicate direct manipulation of the particulate 52, such as the target shape or profile of the particulate 52, adjustment of the current shape or profile of the particulate 52, or any combination thereof.

[0038] In an example embodiment, the control system 50 may have a prop 202 disposed within the particulate 52, and the first user 200A may use the first user interface 168A to move the prop 202 relative to the base 54. That is, the first user 200A may adjust the wave emitted by the transducer 58 and / or select the orientation of the transducer 58 to move the particulate 52 relative to the base 54, thereby driving the prop 202 to move relative to the base 54. Adjusting the properties of the wave (e.g., the amplitude 106 and / or period 108 of the associated wave 100) may change the movement of the particulate 52 relative to the base 54 and may also change the movement of the prop 202 relative to the base 54. In this manner, the user 200 can operate the control system 50 to move various props 202 relative to each other, such as to race vehicles within the particulate 52.

[0039] The second user interface 168B may include a touch screen, a computing device, a display, another suitable component, or any combination thereof that enables the second user 200B to select a particular operation of the control system 50, such as a pre-programmed operation. For example, the controller 162 may receive feedback from the second user 200B indicating the selected operation, and the controller 162 may operate the transducer 58, the actuator 158, and / or the projector 160 at least in part based on the selected operation. In other words, the second user 200B may select a particular pre-programmed operation of the control system 50 via the second user interface 168B, and the controller 162 may automatically operate the control system 50 based on the selected pre-programmed operation. For example, based on the selected pre-programmed operation, the controller 162 may operate the transducer 58 and / or the actuator 158 to form a particular profile of the granular particles 52 and also operate the projector 160 to project a particular image onto the granular particles 52. In another example, the selected pre-programmed operation may indicate a particular movement of the prop 202 and / or indicate a target location of the prop 202, and the controller 162 may operate the transducer 58 and / or the actuator 158 based on the selected pre-programmed operation to move the prop 202 according to the particular movement.

[0040] Figure 6 is a schematic diagram of an embodiment of the control system 50, where the user 200 may be positioned directly on the granular particles 52 on the base 54. The controller 162 may operate the control system 50 based on the actions of the user 200. In one embodiment, the controller 162 may operate the transducer 58 and / or the actuator 158 to generate a particular profile of the granular particles 52 and / or move the granular particles 52 in a particular manner based on the position of the user 200 with respect to the base 54. For example, the controller 162 may direct the transducer 58 to emit waves that position the granular particles 52 around the user 200 such that the user 200 does not step on the granular particles 52 to create the illusion of seas parting. In additional or alternative embodiments, the controller 162 may generate a particular profile of the granular particles 52 and / or move the granular particles 52 in a particular manner based on the interaction between the user 200 and the base 54. As an example, the controller 162 may direct the transducer 58 to cause local vibrations that move the granular particles 52 in a circular motion around a particular user 200 who is stationary with respect to the base 54, and the controller 162 may direct the transducer 58 to emit waves that cause local vibrations that move the granular particles 52 linearly with another particular user 200 who is moving with respect to the base 54. Such movement of the granular particles 52 may create the effect of the granular particles 52 flowing around the user 200 as the user 200 walks.

[0041] In the illustrated embodiment, the controller 162 may operate the control system 50 using machine vision or analysis of images (e.g., of the particulate 52, base 54). For example, the sensor 170 may transmit feedback indicating the condition (e.g., visual appearance, composition) of the particulate 52 and / or base 54 to the controller 162, and the controller 162 may operate the control system 50 based on the feedback. In one embodiment, the sensor 170 may be a position sensor configured to determine the position of the user 200 relative to the base 54. For example, the sensor 170 may be a light detection and ranging (LIDAR) sensor, a camera, an electro-optical sensor, another suitable position sensor, or any combination thereof. The sensor 170 may be positioned above the base 54 relative to the vertical axis 60 such that the sensor 170 can determine the position on the base 54 where the user 200 is positioned. Additionally or alternatively, the sensor 170 may be a pressure sensor configured to determine the force applied by the user 200 to the base 54. Based on the position of the sensor 170 that determines the force, the controller 162 may determine the position where the user 200 is positioned relative to the base 54. For example, the sensor 170 may be positioned below the base 54 relative to the vertical axis 60. Each sensor 170 is configured to determine the presence of a force that corresponds to the weight of one of the users 200. The controller 162 may receive feedback indicating the force from the sensor 170, and based on the sensor 170 indicating the presence of the force, the controller 162 may determine the position of the force to determine the position of the user 200 relative to the base 54. In a further embodiment, the sensor 170 may be a motion sensor configured to detect movement and determine the position of such movement relative to the base 54, such as an ultrasonic sensor, a speedometer, a passive infrared sensor, a vibration sensor, or any combination thereof. The controller 162 may determine the position of the user 200 relative to the base 54 based on the detected movement. Other embodiments of the sensor 170 may also be used, including acoustic transducers, infrared radiometers, and / or any other suitable sensor.

[0042] In addition, sensor 170 can be configured to determine operating parameters of granular particles 52, and controller 162 can operate control system 50 based on the determined operating parameters. For example, sensor 170 can be an image sensor configured to detect impurities in granular particles 52, such as dirt, debris, or other unwanted particles, based on a captured image of granular particles 52 (e.g., the coloring characteristics of the image). Controller 162 can then direct transducer 58 to emit waves to move granular particles 52 based on the detected impurities, such as by moving granular particles 52 away from base 54 so that new granular particles 52 can be added to base 54. In this way, control system 50 can be used to self-maintain granular particles 52 and / or base 54. Sensor 170 can also determine additional or alternative operating parameters of control system 50, such as the temperature of granular particles 52, the force applied to granular particles 52, the operating time of control system 50, another suitable operating parameter, or any combination thereof. Controller 162 can then operate control system 50 to move granular particles 52 and / or hold the position of granular particles 52 based on the operating parameters.

[0043] Although only certain features of the present disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the present disclosure..

[0044] The technology presented and claimed herein is referenced and applied to physical objects and specific examples of a practical nature, which demonstrably improve the art and are thus not abstract, intangible, or purely theoretical. Moreover, if any of the claims appended to the end of this specification contain one or more elements designated as "means for [performing]... [function]" or "step for [performing]... [function]", it is intended that such elements will be construed in accordance with 35 U.S.C. 112(f). However, for any claim that contains elements designated in any other way, it is intended that such elements will not be construed in accordance with 35 U.S.C. § 112(f).

Claims

1. A material forming system, comprising: A medium, which is disposed on a base; A plurality of transducers, which are coupled to the base; An actuator, which is coupled to a transducer among the plurality of transducers; And A controller, which is communicatively coupled to the plurality of transducers such that each individual transducer among the plurality of transducers can be individually addressed by the controller, wherein the controller is configured to: Receive feedback and is configured to direct the activation of one or more individual transducers among the plurality of transducers based on the feedback to move the medium on the base to generate a shaped surface; And Direct the actuator to move the transducer relative to the base in response to the feedback.

2. The material forming system according to claim 1, wherein, Each individual transducer among the plurality of transducers generates acoustic waves, mechanical waves, or any combination thereof when active.

3. The material forming system according to claim 1, comprising a sensor configured to determine an operating parameter of the system, wherein, The feedback includes the operating parameters, and wherein the operating parameters include one or more characteristics of the shaped surface, the force applied to the base, the temperature of the medium, the force applied to the medium, the operating time of the system, or any combination thereof.

4. The material forming system according to claim 1, wherein, The controller includes a user interface, and the feedback is user input received from the user interface.

5. The material forming system according to claim 4, wherein, The user input indicates direct manipulation of the medium.

6. The material forming system according to claim 1, wherein, The medium includes a plurality of granular particles, a fluid, or any combination thereof.

7. A material forming system, comprising: A medium, which is disposed on a base; A plurality of transducers, which are coupled to the base, wherein each transducer among the plurality of transducers is configured to be activated to cause local vibration within the medium; A projector, which is configured to project an image toward the base; and A controller, which is communicatively coupled to the plurality of transducers and the projector, wherein the controller is configured to: Receive feedback indicating the operating parameters of the system; Direct one or more transducers among the plurality of transducers to be activated based on the feedback to form a shaped surface from the medium on the base; and In response to the feedback, direct the projector to project the image toward the medium and / or the base.

8. The material forming system according to claim 7, wherein, The feedback indicates the profile of the medium, and wherein the controller is configured to direct the projector to project the image toward the base to align the image with the shaped surface based on the profile.

9. The material forming system according to claim 7, wherein, The feedback includes a user selection of a combination of pre-programmed operations of the plurality of transducers and pre-programmed operations of the projector, and wherein the controller is configured to direct each transducer among the plurality of transducers to emit a specific wave and direct the projector to project a specific image toward the medium and / or the base in response to the user selection.

10. The material forming system according to claim 7, wherein, Projecting the image toward the medium and / or the base includes dynamically mapping the image onto the exposed surface of the medium.

11. The material forming system according to claim 7, comprising a barrier that surrounds and is in contact with at least a portion of the perimeter of the base, wherein, The transducer among the plurality of transducers is positioned against the barrier.

12. The material forming system according to claim 7, wherein, The plurality of transducers includes a first transducer configured to emit a first wave to cause a first vibration and a second transducer configured to emit a second wave to cause a second vibration, wherein the controller is configured to direct the first transducer to emit the first wave to interfere with the second wave emitted by the second transducer.

13. The material forming system according to claim 7, including a tool disposed in the medium, wherein, The feedback indicates a target position of the tool relative to the base, and the controller is configured to direct activation of one or more of the plurality of transducers to move the tool toward the target position.

14. A material forming system, including: Base; A medium disposed on the base; A plurality of transducers coupled to the base, wherein each transducer of the plurality of transducers is configured to be activated to cause local vibrations within the medium; A user interface; And A controller communicatively coupled to the plurality of transducers and the user interface, wherein the controller is configured to: Receive feedback from the user interface indicating operating parameters of the system; And Based on the feedback, direct activation of one or more of the plurality of transducers to move the medium to form a shaped surface on the base.

15. The material forming system according to claim 14, wherein, The feedback indicates a selected orientation of the transducers of the plurality of transducers relative to the base, a selected wave to be emitted by the transducers of the plurality of transducers, a selected pre-programmed operation of the transducers of the plurality of transducers, or any combination thereof.

16. The material forming system according to claim 14, wherein, The controller is configured to direct an actuator of the system to drive the transducers of the plurality of transducers to move relative to the base.

17. The material forming system according to claim 14, wherein, The user interface includes a touch screen, a computing device, a display, a joystick, a slider, a knob, a switch, a button, or any combination thereof.

18. The material forming system according to claim 14, including one or more damping structures, the one or more damping structures at least partially isolate individual transducers among the plurality of transducers from each other or from the base.

19. The material forming system according to claim 14, wherein, The feedback is transmitted from a sensor of the system, wherein the sensor is configured to detect operating parameters of the medium, and the sensor is a position sensor, a pressure sensor, a motion sensor, an image sensor, an acoustic transducer, an infrared radiometer, or any combination thereof.

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