System and method for controlling entertainment image

Abstract

An animated image system includes: an animated image including a connection location; a first actuator; an extension including an end coupled to the connection location and a section coupled to the first actuator such that a length of the extension extends between the connection location and the first actuator, where the first actuator is configured to move the section of the extension; a second actuator configured to extend or retract the extension portion to vary the length of the extension portion extending between the connection position and the first actuator; and an automation controller configured to control the first actuator and the second actuator to set a positioning of the connection position.

Description

[0001] This application is a divisional application of patent application number 202180023829.1, entitled "Animation Character System and Computer-readable Medium Having Instructions for Controlling an Actuation System of the Animation Character System". Background Technology

[0002] This section aims to introduce the reader to various technical aspects that may relate to the various aspects of this disclosure. This discussion is considered helpful in providing the reader with background information to facilitate a better understanding of the various aspects of this disclosure. Therefore, it should be noted that these statements should be read in this context, rather than as an admission of prior art.

[0003] An amusement park can include various features designed to provide customers with a unique experience. For example, an amusement park can have a variety of rides and shows for customers to enjoy. Furthermore, an amusement park can have performance effects and props that can create an ideal environment or atmosphere for customers. Such features can include interactive entertainment characters (e.g., animated characters, animated figures). For example, entertainment characters can speak, wave, walk, or perform any other appropriate actions. Summary of the Invention

[0004] An overview of certain embodiments disclosed herein is set forth below. It should be noted that these aspects are presented only to provide the reader with a brief overview of these embodiments, and are not intended to limit the scope of this disclosure. In fact, this disclosure may include a wide variety of aspects that may not be set forth below.

[0005] In one embodiment, the animated character system includes: an animated character including a flexible skin layer; an actuation system coupled to a connection location of the flexible skin layer; and an automation controller. The automation controller is configured to: access a digital model of the animated character, wherein the digital model includes vertices associated with the connection location; determine a first location of the vertex within the digital model; and control the actuation system to set a second location of the connection location based on the first location of the vertex.

[0006] In one embodiment, the animated character system includes: an animated character having a connection position; a first actuator; and an extension having an end coupled to the connection position and a section coupled to the first actuator, such that the length of the extension extends between the connection position and the first actuator. The first actuator is configured to move the section of the extension. The animated character system further includes: a second actuator configured to extend or retract the extension to change the length of the extension extending between the connection position and the first actuator; and an automation controller configured to control the first and second actuators to set the positioning of the connection position.

[0007] In one embodiment, the non-transitory computer-readable medium has executable instructions that, when executed by a processor, configure the processor to access a digital model of an animated character, wherein the animated character includes connection positions and the digital model includes vertices associated with the connection positions. The instructions are also configured to cause the processor to: determine a first location of the vertices of the digital model; and control an actuation system of the animated character to set a second location of the connection positions based on the first location of the vertices of the digital model. Attached Figure Description

[0008] These and other features, aspects, and advantages of this disclosure will become more readily understood when read in conjunction with the accompanying drawings, in which the same characters denote the same parts throughout the drawings, wherein: Figure 1 These are schematic views of an embodiment of an amusement park with an entertaining image according to aspects of this disclosure; Figure 2 These are schematic views of embodiments of an entertainment character system that can be used to operate entertainment characters according to aspects of this disclosure; Figure 3 This is a side cross-sectional view of an embodiment of an entertainment character system that can be used to operate entertainment characters according to aspects of this disclosure; Figure 4 This is a side cross-sectional view of an embodiment of an entertainment character system that can be used to operate entertainment characters according to aspects of this disclosure; Figure 5 This is a side cross-sectional view of an embodiment of an entertainment character system that can be used to operate entertainment characters according to aspects of this disclosure; Figure 6 This is a side cross-sectional view of an embodiment of an entertainment character system that can be used to operate entertainment characters according to aspects of this disclosure; and Figure 7 This is a flowchart illustrating an embodiment of a method or process for operating an entertainment character according to aspects of this disclosure. Detailed Implementation

[0009] One or more specific embodiments will be described below. For the purpose of providing a concise description of these embodiments, not all features of the actual implementation are 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 specific goals for the developer that may vary depending on the implementation, such as compliance with system-related constraints and business-related constraints. Furthermore, it should be noted that such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, such development efforts will be nothing more than routine tasks of design, fabrication, and manufacturing.

[0010] When describing the elements of various embodiments of this disclosure, the articles “a,” “an,” “the,” and “the” are intended to mean the presence of one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that additional elements may be present in addition to those listed. 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 this 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, which may vary from implementation to implementation, such as compliance with system-related constraints and business-related constraints. Furthermore, it should be noted that such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, such development efforts will be nothing more than routine tasks of design, fabrication, and manufacturing.

[0011] This disclosure relates to amusement parks. An amusement park may include various features for the entertainment of customers and patrons. For example, an amusement park may include attractions such as rides or shows. An amusement park may also include props and performance effects to provide a unique experience for customers. Such props and performance effects may include entertainment characters (e.g., animated characters, animated figures). As used herein, an entertainment character refers to any suitable physical prop that uses mechanical features to move or alter surfaces visible to customers. In one example, an entertainment character may include automated or remotely controlled machines (e.g., robots). In another example, an entertainment character may include a suit worn by a person and equipped with mechanical features. In any case, the mechanical features of an entertainment character may perform unique functions, such as automated actions. The entertainment character may interact with customers to provide an interactive entertainment experience, and the mechanical features may enhance the customer experience. Although this disclosure primarily relates to amusement parks, it should be noted that the techniques and features described herein can be implemented in any suitable set or location.

[0012] Without the disclosed embodiments, it can be difficult to control certain aspects of an entertainment character and / or mimic realistic representation, thereby limiting the experience provided by the entertainment character. It is now recognized that it would be ideal to control the facial expressions of the entertainment character to portray more realistic expressions (e.g., emotions). Therefore, embodiments of this disclosure relate to improved systems for controlling entertainment characters and enhancing the experience provided by them.

[0013] In this embodiment, a virtual (e.g., digital, computerized) model of the entertainment character is referenced, and the virtual model represents a realistic depiction of at least a portion (e.g., the face) of the entertainment character. Different virtual portions of the virtual model can be associated with corresponding physical portions of the entertainment character. The position, orientation, movement, etc., of the virtual portions can be monitored to determine the corresponding position, orientation, and / or movement of the physical portions. The entertainment character may include an actuation system configured to coordinate the movement of the physical portions to match the movement of the virtual portions. In practice, the actuation system can be controlled based on the virtual model to move the entertainment character accordingly. In this way, the entertainment character can closely mimic the realistic virtual model, thereby enabling the entertainment character to appear and / or move more realistically.

[0014] Now turn to the attached image. Figure 1 This is a schematic view of an embodiment of an amusement park 50 including features for entertaining customers 52. The amusement park 50 may include rides 54, which may be roller coasters, water rides, drop towers, motion simulators, etc. The amusement park 50 may additionally or alternatively include shows 56, such as theatrical performances, shows, concerts, etc. Furthermore, the amusement park 50 may include venues 58, which may be food establishments (e.g., restaurants), merchandise stores, hotels, or any other suitable venue 58. Customers 52 may move through the amusement park 50, such as via path 60, to navigate to any location within the amusement park 50, including to rides 54, shows 56, and / or venues 58. Additionally, the amusement park 50 may include entertainment characters 62 (e.g., animated characters, animated figures) that can interact with customers 52. It should be noted that entertainment characters 62 may also be located at any suitable location inside or outside the amusement park 50.

[0015] In one embodiment, the entertainment character 62 may be fully electromechanical, such as a robot programmed to move automatically or via remote control (e.g., not worn by a user or operator, or moved manually without contact with a user or operator). In additional or alternative embodiments, the entertainment character 62 may be partially electromechanical, and some functions of the entertainment character 62 may be manually activated via contact with a user or operator. For example, the entertainment character 62 may include a suit worn by a person and having electromechanical components (e.g., a headdress with mechanically driven facial features), wherein the electromechanical components can perform certain functions (e.g., movement of facial features), but the person can manually orient or position the mechanical components (e.g., by moving their heads). In this way, the entertainment character 62 may include various features and / or may perform at least some functions without human assistance, such as representing a character that cannot be activated by human movement alone.

[0016] In embodiments, the entertainment character 62 may include a control system 64 (e.g., an electronic controller; an automation controller, such as a programmable logic controller [PLC]) or be communicatively coupled to the control system 64, which may operate the entertainment character 62, for example, by moving at least some portions of the entertainment character 62. The control system 64 may include a memory 66 and a processor 68, such as a microprocessor. The memory 66 may 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 that includes instructions for operating the entertainment character 62. The processor 68 may 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, configured to execute instructions stored in the memory 66 to operate the entertainment character 62 accordingly. For example, the control system 64 may move a portion of the entertainment character 62 relative to another portion of the entertainment character 62.

[0017] The entertainment character 62 can interact with the customer 52 to provide a unique experience. As an example, the entertainment character 62 can provide a realistic portrayal of a character, such as by talking to the customer 52. For instance, while the customer 52 is navigating through the amusement park 50, the entertainment character 62 can provide entertainment to the customer 52 from outside the ride 54, show 56, or venue 58. Alternatively, the entertainment character 62 can interact with the customer 52 inside the ride 54, show 56, and / or venue 58 to provide further entertainment. In fact, the entertainment character 62 can be positioned at any suitable location and / or can move throughout the amusement park 50 to provide entertainment to the customer 52 anywhere within the amusement park 50.

[0018] Figure 2This is a schematic view of an embodiment of an entertainment character system 100 that can be used to operate the entertainment character 62. The entertainment character system 100 includes a control system 64 that can be communicatively coupled to a display 102 of the entertainment character 62. As an example, the control system 64 can cause the display 102 to present visual outputs such as light, projections (e.g., animations of features), or any other suitable visual outputs visible to customers of the amusement park. The control system 64 can be communicatively coupled to a speaker 104 of the entertainment character 62 to cause the speaker 104 to present audio outputs audible to customers, such as sound effects. The control system 64 can be communicatively coupled to an actuation system 106 of the entertainment character 62 to cause movement of various parts of the entertainment character 62. For example, the actuation system 106 may include actuators (e.g., pneumatic, electromechanical, hydraulic, soft robotic), such as linear actuators, rotary actuators, etc., attached to various connection locations 108 (e.g., points, segments, surface areas, volumes) of the entertainment character 62. In this way, the actuation system 106 can move the connection positions 108 relative to each other (e.g., push, pull) to move the entertainment image 62.

[0019] In embodiments, connection positions 108 may be associated with different segments of the avatar 62. For example, one connection position 108 may be located at the arm of the avatar 62, and another connection position 108 may be located at the torso of the avatar 62. Accordingly, the actuation system 106 can move the arm relative to the torso. In additional or alternative embodiments, connection positions 108 may be associated with different portions of the same segment of the avatar 62. As an example, one connection position 108 may be located at a portion of the forehead of the avatar 62, and another connection position 108 may be located at another portion of the forehead. The actuation system 106 can then move the different portions of the forehead relative to each other to cause subtle movements of the forehead (such as wrinkling), thereby producing a more realistic appearance of the avatar 62. In fact, connection positions 108 can be positioned at any suitable portion of the avatar 62 to allow the avatar 62 to move in a realistic manner.

[0020] In the illustrated embodiment, the entertainment avatar system 100 also includes an entertainment avatar model 110 accessible to the control system 64. For example, the entertainment avatar model 110 may be stored in the memory 66 of the control system 64 and / or in a database separate from the control system 64 (such as a cloud-based storage device), and may be easily referenced by the control system 64. As used herein, the entertainment avatar model 110 includes any virtual model representing the entertainment avatar 62. For example, the entertainment avatar model 110 may include a digital (e.g., computerized, virtual) 3D model of the entertainment avatar 62. The entertainment avatar model 110 can provide a realistic virtual display of the entertainment avatar 62, such as realistic orientation, appearance, movement, etc. The entertainment avatar model 110 can be animated to move multiple facial features to represent specific emotional expressions (e.g., a smile). The control system 64 can determine the animation of the entertainment avatar model 110 (e.g., via motion capture, frame tracking), and the control system 64 can cause the entertainment avatar 62 to move accordingly to match the movement of the entertainment avatar model 110, thereby mimicking realistic movement.

[0021] For this purpose, the entertainment character model 110 may include a plurality of vertices or other suitable segments 112. For example, the entertainment character model 110 includes a mesh structure with vertices 112. Vertices 112 can move as the entertainment character model 110 moves to be oriented toward each other in a specific manner. Furthermore, at least a portion of the connection positions 108 may correspond to the respective vertices 112. The control system 64 can operate the entertainment character 62 such that the orientation of the connection positions 108 is aligned or matched with the orientation of the vertices 112 in order to produce a realistic appearance of the entertainment character 62. In one embodiment, the entertainment character model 110 may include a single digital image having vertices 112 at respective locations, and the control system 64 may set the positioning of the connection positions 108 to match the corresponding positioning of the vertices 112 in the digital image, thereby producing a realistic pose of the entertainment character 62.

[0022] In additional or alternative embodiments, the entertainment character model 110 may include multiple digital images, each of which may have a vertex 112 at various corresponding locations (e.g., different locations during a time interval) to represent movement of the virtual entertainment character. The control system 64 may move the connection position 108 based on the location of the digital image during the time interval (e.g., matching it), thereby producing realistic movement of the entertainment character 62 during the time interval. In other words, when the entertainment character model 110 moves to cause movement of the vertex 112 (e.g., moving to various locations over time), the control system 64 may control the actuation system 106 to cause corresponding movement of the connection position 108 (e.g., moving to various locations over time). For example, the vertex 112 may be a different part of the face of the entertainment character model 110 and may move in a realistic manner within the entertainment character model 110 to form a smile, and the control system 64 may cause the connection position 108 to move in a corresponding manner matching the movement of the vertex 112, thereby causing the entertainment character 62 to also move in a realistic manner to form a smile. Accordingly, the control system 64 can move the connection position 108 to control the movement of fine motors in different parts of the entertainment character 62, such as to form realistic skeletal structures, skin wrinkles, etc., thereby providing a more realistic entertainment character 62.

[0023] In an embodiment, the avatar 62 may include a sensor 114 (e.g., one or more sensors) configured to determine parameters of the avatar 62 and communicatively coupled to a control system 64. As an example, sensor 114 may determine the orientation of connection position 108, and sensor 114 may transmit data to the control system 64 to indicate the orientation of connection position 108. The control system 64 may use the data to operate the avatar 62. For example, the control system 64 may determine whether the orientation of connection position 108 substantially matches the orientation of vertex 112 to determine whether connection position 108 should be adjusted. In this way, the data can provide feedback and enable the control system 64 to more accurately position connection position 108 and provide a more realistic appearance for the avatar 62. Alternatively or additionally, sensor 114 may be configured to determine various parameters associated with the avatar system 100, such as audio input (e.g., words spoken by a customer to the avatar 62), proximity of objects adjacent to the avatar 62, time of day, another suitable parameter, or any combination thereof. The control system 64 can receive data indicating operating parameters monitored by the sensor 114 and control the entertainment image 62 accordingly.

[0024] Figure 3This is a side cross-sectional view of an embodiment of an entertainment character 62, which includes a head 140 having a face 142. Furthermore, the entertainment character 62 includes an actuation system 106 communicatively coupled to a control system 64. The illustrated actuation system 106 is positioned within the head 140 and neck region 144 of the entertainment character 62. However, in additional or alternative embodiments, the actuation system 106 may be positioned relative to the entertainment character 62 in any suitable manner, such as within the legs of the entertainment character 62, at least partially outside the entertainment character 62, or any combination thereof. The illustrated actuation system 106 may be configured to move certain portions of the face 142, such as a first connection position 146 and / or a second connection position 148, each of which may be part of a layer 155 (e.g., skin, silicone layer) of the face 142 of the entertainment character 62. Although the illustrated embodiments primarily discuss the movement of layer 155 of face 142, it should be noted that the disclosed techniques can be implemented to move layers of any suitable portion of the entertainment image 62, including the torso, legs, hands, or any other suitable portion visible to the customer.

[0025] The entertainment character system 100 also includes an entertainment character model 110 that can be referenced by the control system 64. In the illustrated embodiment, the entertainment character model 110 is shown as a polygonal mesh, but the entertainment character model 110 may additionally or alternatively include any suitable model that can be used by the control system 64 to control the entertainment character 62. The entertainment character model 110 may include a first vertex 150 that may correspond to a first connection position 146 and a second vertex 152 that may correspond to a second connection position 148. That is, the control system 64 may cause the actuation system 106 to move the first connection position 146 based on the movement of the first vertex 150 (e.g., matching it), and simultaneously or sequentially move the second connection position 148 based on the movement of the second vertex 152 (e.g., matching it). For example, the vertices 150, 152 of the entertainment character model 110 may be positioned and oriented in some way to provide a realistic depiction of the entertainment character model 110. The control system 64 can control the orientation and orientation of the connecting positions 146 and 148 to match the vertices 150 and 152, thereby matching the appearance of the entertainment character 62 with the entertainment character model 110, thus presenting the entertainment character 62 more realistically.

[0026] The illustrated actuation system 106 includes a plurality of actuators 154, each configured to control one of connection positions 146, 148. For example, a first actuator 154A may control a first connection position 146, a second actuator 154B may control a second connection position 148, and a third actuator 154C may also control the second connection position 148. Furthermore, in the illustrated embodiment, each actuator 154 is coupled to a base 156 (e.g., a frame), which supports the actuator 154 and prevents unwanted movement of the actuator 154 (e.g., caused by gravity). In additional or alternative embodiments, each actuator 154 may be coupled to a separate support, and / or each actuator 154 may be supported in any suitable manner to prevent unwanted movement of the actuator 154. Additionally, an extension 158 may be coupled to each actuator 154 and to the corresponding connection position 146, 148. That is, the first extension 158A is coupled to the first actuator 154A and to the first connection position 146 (e.g., via the end effector of the first extension 158A), the second extension 158B is coupled to the second actuator 154B and to the second connection position 148 (e.g., via the end effector of the second extension 158B), and the third extension 158C is coupled to the third actuator 154C and to the second connection position 148 (e.g., via the end effector of the third extension 158C).

[0027] The control system 64 can control the actuator 154 to move the corresponding extension 158, and thereby move the associated connection positions 146, 148. Although the actuator 154 and / or extension 158 are partially located internally within the illustrated entertainment figure 62, in additional or alternative embodiments, the actuator 154 and extension 158 may be located externally to the entertainment figure 62. For example, the actuator 154 may be attached to a wall or support structure located externally to the entertainment figure 62. Additionally, the actuation system 106 may be easily accessible, such as for performing maintenance. For example, the head 140 may be easily detached from the connection positions 146, 148 and removed from the remainder of the entertainment figure 62, exposing the interior of the entertainment figure 62 to enable access to the actuation system 106.

[0028] Furthermore, in the embodiments, each extension 158 may be coupled to the base 156 by a corresponding support 160 attached along the length of the extension 158. Each support 160 may prevent the corresponding extension 158 from substantially deforming (e.g., bending, changing in length). In this way, each of the extension 158 and the support 160 includes a rigid structure (e.g., a rod or tube). A corresponding support feature (such as a joint 162) capable of enabling movement of the extension 158 relative to the support 160 may be provided at the interface between each extension 158 and its support 160. For example, each joint 162 may be a ball-and-socket joint that allows the extension 158 to rotate about the corresponding support 160, but the orientation of each joint 162 may be substantially maintained such that the segments of each extension 158 coupled to the corresponding joint 162 may be substantially maintained relative to each other. As an example, the end of the support 160 is a socket, and the bent portion of the extension 158 rotates within the socket. However, the connector 162 can be any suitable type of connector (e.g., a hinge) that can be used to support the extension 158, to provide a mechanical advantage for moving the extension 158, to reduce movement of specific sections of the extension 158 (e.g., relative to each other), or any combination thereof.

[0029] In one embodiment, each actuator 154 may remain substantially fixed relative to the base 156, but each extension 158 may be movable relative to the actuator 154. For example, the actuator 154 may move a corresponding first end 164 of each extension 158, thereby causing a corresponding movement (e.g., rotational movement about the connector 162) of a corresponding second end 166 of each extension 158 to move connection positions 146, 148. In an embodiment, the actuator 154 (e.g., a benchtop actuator) may move the corresponding first end 164 in multiple degrees of freedom, such as along a plane formed by the vertical axis 168 and the lateral axis 170, and / or along a plane formed by the lateral axis and the longitudinal axis 172. In one embodiment, the support 160 may be flexible to move (e.g., flex, bend) relative to the base 156, so that the actuator 154 can move the extension 158 along a plane formed by the vertical axis 168 and the longitudinal axis 172. For example, actuator 154 may move its first end 164 toward the front portion 174 of face 142, and support 160 may bend toward the front portion 174 of face 142 so that the second end 166 of extension 158 moves toward the front portion 174 of face 142, and thus the connection positions 146, 148 move toward the front portion 174 of face 142. In an additional or alternative embodiment, actuator 154 may be movable relative to base 156 to move connection positions 146, 148. That is, for example, actuator 154 may be movably (e.g., hingedly, rotatably) coupled to base 156. Therefore, control system 64 may control the movement of actuator 154 relative to base 156 to move connection positions 146, 148. In any case, control system 64 may control actuator 154 in any suitable manner to move extension 158 to connection positions 146, 148.

[0030] As mentioned herein, both the second actuator 154B and the third actuator 154C can be configured to control the second connection position 148. In this way, the control system 64 can operate both the second actuator 154B and the third actuator 154C to move the second connection position 148, and thus can more precisely control the movement of the second connection position 148. For example, the second extension 158B and the third extension 158C can move in different ways to more precisely induce a movement, such as twisting and / or rotation, of the face 142 at the second connection position 148. For this reason, multiple actuators can be coupled to the connection position to enable greater control over the connection position. Furthermore, although in the illustrated embodiment each actuator 154 is coupled to a single extension 158, in additional or alternative embodiments, any actuator 154 can be coupled to multiple extensions 158. Such extensions 158 can be coupled to the same connection position or to separate connection positions. In this way, a single actuator 154 can be configured to control multiple different connection locations.

[0031] Furthermore, although the illustrated entertainment avatar system 100 is configured to control two connection points 146, 148, additional or alternative entertainment avatar systems 100 can control any suitable number (e.g., 10, 20, 30 or more) of connection points 146, 148. For example, entertainment avatar 62 may have a similar number of connection points 146, 148 as the number of vertices 150, 152 included in entertainment avatar model 110. Accordingly, each segment of entertainment avatar 62 can be precisely controlled to match entertainment avatar model 110. In additional or alternative embodiments, certain segments of entertainment avatar 62 may include more connection points 146, 148 compared to other segments of entertainment avatar 62. For example, controlling the forehead of entertainment avatar 62 may be more desirable than controlling the chin. Accordingly, there may be more connection points 146, 148 located in the forehead region than in the chin region. Furthermore, certain regions of layer 155 may have different properties to alter how the movement of connection positions 146, 148 affects the appearance of the entertainment image 62. For example, certain segments of layer 155 may be more flexible or softer than other segments and therefore more easily moved, and movement of connection positions 146, 148 in such segments can cause a wrinkling effect. Other segments of layer 155 may be more rigid or stiffer and therefore more difficult to move, and movement of connection positions 146, 148 in such segments can cause an appearance of skeletal movement. For example, the first connection position 146 may be part of a first segment of layer 155 having a first (e.g., low) stiffness, and the control system 64 may operate the first actuator 154A to provide a first effect, such as wrinkling of the skin on the forehead. The second connection position 148 may be part of a second segment of layer 155 having a second (e.g., high) stiffness, and the control system 64 may operate the second actuator 154B and / or the third actuator 154C to provide a second effect, such as bone movement of the jaw. Furthermore, while this disclosure primarily discusses the movement of connection positions 146, 148 for causing movement of layer 155 of face 142, connection positions 146, 148 may additionally or alternatively move any other suitable portion of the entertainment figure 62, such as more inner segments of face 142 (e.g., tongue), outer layers of different portions of entertainment figure 62 (e.g., hands), etc., to provide a realistic depiction of entertainment figure 62.

[0032] As shown, the entertainment avatar system 100 includes a sensor 114 that can transmit data to a control system 64. Such data may include data associated with connection positions 146, 148, such as the corresponding positioning of connection positions 146, 148. As used herein, this positioning may include orientation along a vertical axis 168, a lateral axis 170, and / or a longitudinal axis 172. This positioning may additionally or alternatively include orientation that may include rotation about the vertical axis 168, the lateral axis 170, and / or the longitudinal axis 172. In any case, the control system 64 can use the data to control actuator 154 to move connection positions 146, 148 to a desired position. For example, the control system 64 may determine whether connection positions 146, 148 are at a corresponding position corresponding to the positioning of vertices 150, 152 of the entertainment avatar model 110. As a result, sensor 114 enables the control system 64 to more accurately set the positioning of connection positions 146, 148. In one embodiment, the control system 64 may store data received by the sensor 114 to monitor changes in the corresponding positioning of the connection positions 146, 148 in order to track the motion data of the entertainment figure 62. The data can be retrieved at a later time to analyze the historical positioning of the connection positions 146, 148 during previous operations of the entertainment figure 62.

[0033] In an embodiment, the layout of the actuation system 106 can be generated by a computer model, such as based on the entertainment character model 110 (e.g., the pose and / or movement of the entertainment character model 110). The generated layout enables the use of the actuation system while avoiding collisions between the various parts of the actuation system. The layout generated by the computer model may additionally or alternatively include a report with instructions for assembling the components of the actuation system. In one embodiment, the layout may also include data enabling the automated manufacturing of at least a portion of the actuation system (e.g., 3D printing of the extension 158). Accordingly, the computer model can facilitate the manufacturing and / or operation of the actuation system 106.

[0034] Figure 4 This is a side cross-sectional view of an embodiment of the entertainment image 62. The actuation system 146 includes an actuator 154 and also includes an extension 202 coupled to the actuator 154 and one of the connection locations 146, 148. Each extension 202 may further be coupled to a corresponding support 160 via engagement of a connector 162. Furthermore, the extension 202 may include a portion relative to the extension 158 (… Figure 3More flexible materials can be used. For example, extension 202 may include cables, wires, etc. In this way, the respective lengths of extension 202 spanning between actuator 154 and connection positions 146, 148 can be adjustable. For example, the length of one extension 202 can be increased to move the corresponding connection positions 146, 148 away from actuator 154 (e.g., in a direction transverse to the plane formed by vertical axis 168 and lateral axis 170). Alternatively, the length of one extension 202 can be decreased to move the corresponding connection positions 146, 148 toward actuator 154. For this purpose, each extension 202 can pass through a corresponding connector 162, and the connector 162 can engage different portions of the extension 202 when the length of the extension 202 changes.

[0035] In one embodiment, the respective actuator 154 may be configured to change the length of the extension 202 spanned between the connection positions 146, 148 and the actuator 154. For example, each actuator 154 may include a feature (e.g., a winch) that allows the extension 202 to move laterally relative to a plane formed by a vertical axis 168 and a lateral axis 170. In an additional or alternative embodiment, the actuation system 106 may include an auxiliary actuator 204 configured to adjust the length of the extension 202. For example, the extension 202 may pass through the respective actuator 154 such that a first segment 206 of each extension 202 is coupled to the actuator 154, and a second segment 207 is coupled to the auxiliary actuator 204. When the auxiliary actuator 204 changes the length of the extension 202, the extension 202 moves through the actuator 154 and through the connector 162 to change the first segment 206 of the extension 202 coupled to the actuator 154. For example, the auxiliary actuator 204 may include a winch for the extension 202, and the auxiliary actuator 204 may adjust the winch to extend or retract the extension 202 to change the length spanned by the extension 202 between the connection positions 146, 148 and the actuator 154. The control system 64 may control the actuator 154 to move the connection positions 146, 148 substantially along the plane formed by the lateral axis 170 and the longitudinal axis 172 and / or substantially along the plane formed by the vertical axis 168 and the lateral axis 170, and the control system 64 may control the auxiliary actuator 204 to move the connection positions 146, 148 substantially along the plane formed by the vertical axis 168 and the longitudinal axis 172.

[0036] In the illustrated embodiment, a single auxiliary actuator 204 is configured to control the length of each extension 202 in the extensions 202. However, in additional or alternative embodiments, the actuation system 106 may include a plurality of auxiliary actuators 204, such as a single auxiliary actuator 204 for each extension 202 or a single auxiliary actuator 204 for a subset of the extensions 202. Furthermore, in embodiments, the actuation system 106 may include additional features for supporting the extensions 202. For example, a corresponding sleeve 208 (e.g., a pipe, tube, conduit) may enclose at least a portion of the length spanned by the extension 202 between connection positions 146, 148 and actuator 154. Each sleeve 208 may be movably coupled to support 160 at a corresponding joint 162 to allow the extension 202 to rotate about joint 162, and the extension 202 may be movable through the sleeve 208 to allow the length of the extension 202 to be adjusted. The sleeve 208 can generally be rigid to support the extension 202 and maintain the tension of the extension 202. In other words, the sleeve 208 prevents the extension 202 from loosening or coming undone, thereby improving control over the length of the extension 202 and the positioning of the connection positions 146, 148.

[0037] Figure 5 This is a side cross-sectional view of an embodiment of an entertainment image system 100, which has an extension 202 and an auxiliary actuator 204 configured to adjust the respective length of the extension 202 spanning between connection positions 146, 148 and actuator 154. The illustrated entertainment image 62 includes a panel 230, instead of a support member 160, coupled to a base 156 and configured to provide support to the extension 202. For example, the panel 230 may include a support feature such as an opening 232 through which the extension 202 extends to engage with the panel 230. The opening 232 allows the respective extension 202 to rotate and / or move relative to the panel 230 (e.g., to adjust the length spanning between actuator 154 and connection positions 146, 148). In this way, the extension 202 can be moved as if by the joint 162 of the support member 160 ( Figure 3 and Figure 4 The opening 232 allows for similar movement of the extension 202 while providing support to the extension 202. Although the illustrated embodiment includes a single panel 230, multiple panels 230 may be used in additional or alternative embodiments. For example, any single extension 202 of the extension 202 may extend through multiple panels 230, and / or each extension 202 of the extension 202 may extend through a separate panel 230. The support member 160 may be used in conjunction with the panel 230.

[0038] Figure 6 This is a side cross-sectional view of an embodiment of an entertainment character system 100, which has an actuation system 250 including actuators 252. Each actuator 252 may include a collection of extensions 254 coupled to one of the connection locations 146, 148. The actuators 252 may be configured to control the extensions 254 to move the connection locations 146, 148 in a suitable manner relative to a vertical axis 168, a lateral axis 170, and / or a longitudinal axis 172. For example, each actuator 252 may include a parallel manipulator (e.g., a delta robot, a Stewart platform) configured to move the corresponding connection location 146, 148 in six degrees of freedom. In an embodiment, the actuators 252 may be fixedly coupled to portions of the entertainment character 62 (such as to a base or mounting point) to prevent unintentional movement of the actuators 252 and / or the connection locations 146, 148. Furthermore, although the illustrated embodiments show each connection position 146, 148 controlled by a single actuator 252, in additional or alternative embodiments, any connection position 146, 148 may be controlled by multiple actuators 252 to allow for more sensitive control of the connection positions 146, 148. In other embodiments, a single actuator 252 may be configured to control multiple connection positions 146, 148. For example, a single actuator 252 may have multiple sets of extensions 254 coupled to different connection positions 146, 148. In any case, the actuator 252 may be used without the use of additional components or features (such as auxiliary actuator 204). Figure 4 and Figure 5 In the case of moving the connection positions 146 and 148.

[0039] Figure 7 This is a flowchart of an embodiment of a method 270 for operating an entertainment image system. For example, the steps of method 270 may be controlled by a single controller (such as...). Figure 1-6 The control system 64) is used to execute this. It should also be noted that in different embodiments, compared to... Figure 7 The steps of method 270 can be performed differently as described herein. As an example, additional steps can be performed, and / or some steps of method 270 can be removed, modified, and / or performed in a different order.

[0040] In box 272, a model (e.g., a virtual or digital model) associated with an entertainment character is retrieved. This model may include a single image (e.g., a pose) and / or may include several images (e.g., representing movement). Furthermore, in embodiments, multiple different models may be readily available for retrieval (e.g., stored in a database). For this reason, the entertainment character in operation can be identified so that an associated model can be selected. For example, a specific model associated with an entertainment character may be retrieved. Thus, in an example, a specific model may be selected via user input and / or via a pre-programmed selection that may be based on parameters of the entertainment character (e.g., type, requested interaction). In another example, the entertainment character may include an identifier (such as a serial number, quick response code, name, other identification information, or any combination thereof), and the model associated with the entertainment character may include a corresponding identifier that a device (e.g., a mobile device) can identify. The device can then (e.g., to a control system) transmit data including the identifier of the entertainment character so that the identifier of the entertainment character can be matched with a suitable model to select the correctly associated model.

[0041] A model may have one or more vertices. In box 274, the location (e.g., orientation and / or orientation) of one vertex in the model is identified. In embodiments, the location of a vertex may be relative to at least one other vertex of the model or any other suitable portion of the model. In additional or alternative embodiments, the location of a vertex may be an absolute location within virtual space, such as relative to a virtual coordinate system associated with the virtual space. In practice, the location of a vertex may include any suitable arrangement of vertices in the virtual space of the model. For a model with a single image, a specific location of the vertices for that single image can be determined. For a model with multiple images (e.g., each with different corresponding locations of vertices), changes in the location of vertices can be monitored or tracked.

[0042] In box 276, the connection positions of the entertainment figures associated with the vertices of the model are identified, and the target localization of the connection positions is determined based on the localization of the vertices. That is, the arrangement of the vertices in the virtual space of the model is associated with the corresponding localization of the connection positions in the physical space of the entertainment figures, and the corresponding localization is set as the target localization. In one embodiment, the target localization of the connection positions may be relative to at least one other connection position of the entertainment figure or any other suitable portion of the entertainment figure. In additional or alternative embodiments, the target localization of the connection positions may be an absolute localization within physical space, such as relative to a physical coordinate system associated with physical space. In any case, the target localization of the connection positions in physical space may be suitably determined based on the localization of the vertices in virtual space.

[0043] In box 278, the actuation system is controlled to set the current location of the connection position based on the determined target location of the connection position. As an example, the actuation system can be controlled to move the connection position such that the current location of the connection position (e.g., as determined by a sensor) substantially matches the target location of the connection position. In this way, the current location of the connection position can be associated with the location of the vertex. For example, the current location of the connection position in physical space substantially matches the location of the vertex in virtual space.

[0044] Furthermore, as vertices move, such as based on multiple images of a realistic animation representing an entertainment character, subsequent target positioning of connection positions can be determined, and the actuation system can continue to be controlled to set the positioning of connection positions based on target positioning. In this way, the movement of connection positions generally tracks the movement of vertices, and boxes 274 to 278 can be continuously executed over time (e.g., executed over time to various orientations to produce performances, such as facial expressions or a series of facial expressions). Still going a step further, boxes 274 to 278 can be executed for each suitable vertex of the model and its corresponding connection position to align multiple connection positions of the entertainment character with corresponding vertices of the model. In this way, the overall arrangement of the entertainment character can substantially match the overall arrangement of the model of the entertainment character (e.g., over time). Since the model of the entertainment character has a realistic appearance and / or movement, controlling the entertainment character to match the model of the entertainment character can thus provide a more realistic representation of the entertainment character.

[0045] It should be noted that, in the embodiments, the information about Figures 1-7 The various features discussed are then combined. For example, an embodiment of an entertainment character may include... Figures 4-6 Any combination of the actuator types described. Additionally, other actuator types, including pneumatic or hydraulic bladder systems, can be utilized to enable movement of the connection positions. In any case, the control system can control any of the actuator types described above based on the retrieved digital model (e.g., various vertices of the digital model). Furthermore, in embodiments, the actuator can slide beneath the layers of the entertainment image to produce other effects (such as movement of bones or muscles under the skin), rather than being coupled to and moving the individual connection positions. Still further, although this disclosure primarily discusses the automatic control of the actuation system based on a stored entertainment model, the actuation system can additionally or alternatively be manually controllable. In one example, the control system can receive user input instructing direct movement of the actuation system. In another example, the user input can instruct movement of the entertainment image model, and the control system can control the actuation system to move the entertainment image based on the user input causing movement of the entertainment image model. In yet another example, portions of the actuation system (e.g., Figure 3The extension 158) can be physically accessible to the user (e.g., outside the entertainment figure), and the user can physically cause the movement of the entertainment figure (e.g., manually manipulating a puppet).

[0046] While only certain features of this disclosure have been illustrated and described herein, many modifications and alterations will occur to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all such modifications and alterations that fall within the true spirit of this disclosure.

[0047] The techniques proposed and claimed herein are referenced and applied to substantial objects and specific examples of practical nature that demonstrably improve the technical field and are therefore not abstract, intangible, or purely theoretical. Furthermore, if any claim appended to this specification contains one or more elements designated as “component for [performing]...[function]” or “step for [performing]...[function]”, such elements are intended to be interpreted in accordance with 35 USC 112(f). However, for any claim containing elements designated in any other manner, such elements are not intended to be interpreted in accordance with 35 U.SC 112(f).

Claims

1. An animated character system, comprising: Animated characters, including their connection positions; First actuator; An extension includes an end coupled to the connection location and a section coupled to the first actuator, such that the length of the extension extends between the connection location and the first actuator, wherein the first actuator is configured to move the section of the extension; A second actuator is configured to extend or retract the extension to change the length of the extension extending between the connection position and the first actuator; and An automation controller configured to control the first actuator and the second actuator to set the positioning of the connection position.

2. The animated character system as described in claim 1, wherein, The automation controller is configured to control the first actuator to move the segment of the extension substantially along a plane.

3. The animated character system as described in claim 2, wherein, The automation controller is configured to control the second actuator to move the extension in a direction transverse to the plane.

4. The animated character system as described in claim 1, wherein, The extension is a first extension, and the animated character includes: The third actuator; and The second extension includes a corresponding end coupled to the connection location and a corresponding segment coupled to the third actuator, such that a corresponding length of the second extension extends between the connection location and the third actuator, wherein the third actuator is configured to move the corresponding segment of the second extension.

5. The animated character system as described in claim 4, wherein, The second actuator is configured to extend or retract the second extension to change the corresponding length of the second extension extending between the connection position and the third actuator, and wherein the automation controller is configured to control the first actuator, the second actuator, the third actuator, or any combination thereof to set the positioning of the connection position.

6. The animated character system as described in claim 1, comprising a support member with supporting features, wherein, The length of the extension is configured to engage with the support member at the support feature, wherein the extension is configured to rotate relative to the support member via the support feature, and wherein the second actuator is configured to extend or retract the extension via the support feature to change the length of the extension extending between the connection position and the first actuator.

7. The animated character system as described in claim 6, wherein: The support member is a rod, and the support feature is a joint; or The support member is a panel, and the support feature is an opening in the panel.

8. The animated character system of claim 6, comprising a sleeve extending along at least a portion of the length of the extension, wherein, The sleeve encloses at least a portion of the length of the extension, and wherein the sleeve engages the support member at the support feature such that the sleeve is configured to rotate relative to the support member via the support feature.

9. The animated character system as described in claim 1, wherein, The automation controller is configured to: Access the digital model of the animated character, wherein the digital model includes vertices associated with the connection location; Determine the vertex location of the vertices in the digital model; and Control the first actuator, the second actuator, or both to set the location of the connection position based on the vertex location of the vertex in the digital model.

10. The animated character system as described in claim 9, wherein, The automation controller is configured to: Determine multiple vertex locations of the vertex during a time interval, wherein the multiple vertex locations represent movement of the digital model; and The vertex positioning based on the vertex controls the first actuator, the second actuator, or both, to move the connection position.

11. The animated character system as described in claim 9, wherein, The vertex positioning of the vertex includes a first vertex orientation, a first vertex orientation, or both of the vertex, wherein the positioning of the connection position includes a second orientation, a second orientation, or both of the connection position, and wherein the automation controller is configured to control the first actuator, the second actuator, or both of the second actuator such that the second orientation corresponds to the first vertex orientation and the second orientation corresponds to the first vertex orientation, or both of the second orientation.

12. An animated character system, comprising: Animated characters, including their connection positions; An extension includes a segment and an end portion, wherein the end portion is configured to couple to the connection location; A first actuator is coupled to the segment such that the length of the extension extends between the first actuator and the end portion, wherein the first actuator is configured to move the segment of the extension; A second actuator is configured to extend or retract the extension to change the length of the extension; and An automation controller configured to control the first actuator and the second actuator to position the connection location via coupling between the end of the extension and the connection location.

13. The animated character system as described in claim 12, wherein, The extension is a first extension, and the animated character includes: The third actuator; and The second extension includes a corresponding end coupled to the connection location and a corresponding section coupled to the third actuator, wherein the third actuator is configured to move the corresponding section of the second extension.

14. The animated character system as described in claim 13, wherein, The second actuator is configured to extend or retract the second extension to change the corresponding length of the second extension, and wherein the automation controller is configured to control the first actuator, the second actuator, the third actuator, or any combination thereof to position the connection location.

15. The animated character system of claim 12, comprising a support member coupled to the extension at a position between the end and the first actuator via a joint that enables the extension to rotate relative to the support member.

16. The animated character system as described in claim 15, wherein, The second actuator is configured to extend or retract the extension via the support to change the length of the extension.

17. The animated character system as described in claim 12, wherein, The automation controller is configured to: Access the digital model of the animated character, wherein the digital model includes vertices associated with the connection location; Determine the vertex location of the vertices in the digital model; and Control the first actuator, the second actuator, or both to locate the connection position based on the vertex positioning of the vertices in the digital model.

18. A method for operating an animated character system, the method comprising: An automation controller is used to instruct a first actuator to move a segment of the extension to set the location of the connection position of the animated character, wherein the extension includes a length extending between an end of the extension coupled to the connection position and the segment of the extension coupled to the first actuator; and The automation controller is used to instruct a second actuator to extend or retract the extension to change the length of the extension in order to set the positioning of the connection position.

19. The method of claim 18, wherein, The extension includes a first extension, and the method includes: The automation controller instructs the third actuator to move a corresponding segment of the second extension to set the positioning of the connection position of the animated figure, wherein the second extension includes a corresponding length extending between a corresponding end of the second extension coupled to the connection position and a corresponding segment of the second extension coupled to the third actuator; and The automation controller is used to instruct the second actuator to extend or retract the second extension to change the corresponding length of the second extension in order to set the positioning of the connection position.

20. The method of claim 18, comprising: The automation controller is used to access the digital model of the animated character, wherein the digital model includes vertices associated with the connection locations.

Images