Vehicle guidance via infrared projection

Abstract

To provide a system for guiding a vehicle.SOLUTION: A system includes a plurality of paths on a surface, each path defined by a light projection characteristic of a respective light projection defining the respective path. The system also includes a vehicle. The vehicle includes a sensor configured to detect the light projection characteristic of each of the plurality of paths and a controller configured to guide the vehicle along the respective path using the light projection characteristic that matches an expected light projection characteristic assigned to the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE The present disclosure relates generally to the field of vehicle guidance. In particular, embodiments of the present disclosure relate to vehicle guidance based on utilizing infrared projection. [Background technology]

[0002] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure that are described below. This discussion is believed to be helpful in providing the reader with background to facilitate a better understanding of the various aspects of the present disclosure. As such, it should be understood that these statements are to be read in this light, and not as admissions of prior art.

[0003] Amusement parks include a variety of rides that provide a unique experience for each amusement park guest. Generally, amusement parks add large attractions, such as rides and shows, to provide additional capacity to accommodate more guests. However, adding traditional rides without further elaboration may not be enough to attract enough guest interest to address guest traffic issues or provide an advantage over competitors. With the increasing sophistication and complexity of modern attractions and the corresponding rising expectations among amusement park and / or theme park guests, improved and more creative attractions are needed, including attractions that provide unique guest experiences. Furthermore, safety is a top priority in the implementation of these improved attractions. Mechanical safety mechanisms can wear out, requiring premature repairs of the attractions. Summary of the Invention [Means for solving the problem]

[0004] The following summarizes certain embodiments common in scope to the subject matter of the original claims. These embodiments are not intended to limit the scope of the disclosure, but rather to provide merely a brief summary of some disclosed embodiments. Indeed, the disclosure may include a variety of forms that may be similar to or different from the embodiments set forth below.

[0005] In one embodiment, a system for guiding a vehicle is provided. The system includes a plurality of paths on a surface, each path defined by an infrared projection configured to be read by an infrared camera mounted on the vehicle. The system also includes a vehicle. The vehicle includes an infrared camera / sensor mounted on a frame at a height sufficient to view a road in front of, behind, and / or around the vehicle. The vehicle includes a controller configured to guide the vehicle along each path based on features of the infrared projection detected by the sensor.

[0006] In another embodiment, a system for guiding a vehicle is provided. The system includes a plurality of paths on a surface, each of the paths being defined by an infrared projection formed from an infrared laser diode mounted on a structure (e.g., the ceiling and / or walls of the attraction). In some cases, the diodes can be located quite far from the attraction if desired (since the laser light travels quite far and in parallel). The system also includes a plurality of vehicles. Each of the plurality of vehicles also includes an infrared camera / sensor mounted on a frame at a height sufficient to view the road in front of, behind, and / or around the vehicle, and a controller configured to guide the vehicle along each of the plurality of paths based on characteristics of the infrared projection of each of the plurality of paths detected by the sensor. For example, the different paths can include different infrared patterns, such as dots, dashes, lines, or other distinguishable markings on the travel surface. Each of the plurality of vehicles can identify the correct path based on these distinguishable markings of the various paths.

[0007] In another embodiment, a method for vehicle guidance is provided. The method includes, at a controller of the vehicle, acquiring infrared projections on a moving surface to guide the vehicle along a path, the path being one of a plurality of paths on the moving surface, each path in the plurality of paths being defined by one or more infrared projections observable by an infrared camera mounted on the vehicle. The method further includes detecting, via a sensor on the vehicle, a characteristic associated with the one or more infrared projections, and guiding, via the controller, the vehicle along the path in the plurality of paths based on the characteristic detected by the sensor.

[0008] These and other features, aspects, and advantages of the present disclosure will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which like parts are designated with like numerals throughout. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a schematic diagram of an embodiment of an entertainment attraction ride vehicle guidance system that automates guidance using infrared projection, in accordance with aspects of the present disclosure. [Diagram 2] FIG. 2 illustrates an embodiment of an amusement park environment utilizing the ride vehicle guidance system of FIG. 1 in accordance with aspects of the present disclosure. [Diagram 3] 2 illustrates an embodiment of an amusement park environment utilizing the ride vehicle guidance system of FIG. 1 (e.g., including multiple vehicles) in accordance with aspects of the present disclosure. [Figure 4] 4 illustrates an embodiment of a portion of paths having different characteristics taken within line 4-4 of FIGS. 2 and 3 in accordance with aspects of the present disclosure. FIG. [Diagram 5] FIG. 4 illustrates an embodiment of a portion of a path having symbols or markings in infrared projection taken within line 4-4 of FIGS. 2 and 3 in accordance with aspects of the present disclosure. [Figure 6] 4 illustrates an embodiment of a portion of paths having different characteristics taken within line 4-4 of FIGS. 2 and 3 in accordance with aspects of the present disclosure. FIG. [Figure 7]2 is a flowchart of an embodiment of a method for vehicle guidance in an entertainment attraction utilizing the ride vehicle guidance system of FIG. 1 according to aspects of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] One or more specific embodiments of the present disclosure will be described below. In order to describe these embodiments concisely, not all features of the implementations may be described herein. It should be understood that the development of any such implementation, as in any engineering or design project, requires numerous implementation-specific decisions to be made to achieve the developer's particular objectives, such as compliance with system-related and business-related constraints that may vary from implementation to implementation. Moreover, it should be understood that such development efforts may be complex and time-consuming, but would be a routine undertaking of design, fabrication and manufacture for those of ordinary skill in the art having the benefit of this disclosure.

[0011] Amusement parks feature a variety of entertainment such as amusement rides, live shows, and games. The embodiments of the present disclosure relate to a ride vehicle guidance system that uses infrared projection to perform automated vehicle guidance. Although this description focuses on ride vehicle guidance in amusement parks, the present system and techniques can be used in a variety of applications ranging from robotic guidance to road or other vehicle guidance. This description is not intended to limit the present vehicle guidance system to amusement ride guidance. Multiple paths can be arranged on a surface. Each path is defined by infrared projections (e.g., infrared light forming a specific path pattern, such as specific shapes and / or objects in recurring or non-recurring patterns (e.g., barcodes, QR codes, etc.)). In some embodiments, each path typically includes projection characteristics that are different from other paths, making each path distinguishable from one another. Each ride vehicle can be equipped with an infrared camera or sensor configured to detect the emitted infrared light that constitutes the infrared projection. The infrared light projections are invisible to the human eye due to infrared light wavelengths and can be invisible to passengers on the vehicle or people waiting to board the vehicle. The paths may intersect, and multiple vehicles may travel along the path simultaneously and pass each other. In some embodiments, passengers may change the path of travel of the vehicle via input provided to the vehicle. In some embodiments, characteristics of the infrared projection may change along the path at different locations to change the speed of the vehicle (e.g., accelerate, decelerate, stop, etc.) or cause the vehicle to perform an action (e.g., spin). The invisibility of the path may make the entertainment attraction unpredictable for passengers, enhancing the passenger's ride experience.

[0012] Turning now to the figures, FIG. 1 is a schematic diagram of an embodiment of an entertainment attraction ride vehicle guidance system 10 that uses infrared projections to determine guidance of the ride vehicles. As shown in the exemplary embodiment of FIG. 1, the system 10 can include a vehicle 12 (e.g., a ride vehicle), a path projection system 13, and a ride controller system 14. In some embodiments, the system 10 can include multiple vehicles 12. The system 10 can be configured to be utilized with one or more infrared projections projected (from the path projection system 13) onto a moving surface, the infrared projections defining one or more paths for the vehicles 12 to follow. The paths can be differentiated from one another based on characteristics of the infrared projections. In some embodiments, each path can be defined by an infrared projection that is different from the infrared projections that define other paths. In some embodiments, a particular path can include triggering characteristics (e.g., modified projections) at different locations along the path that trigger different actions to be taken by the vehicles 12. These different actions can include changing speed (e.g., accelerating, decelerating, stopping, etc.) or other actions such as turning in place, activating show features, etc. In some embodiments, a particular path may include a central portion having a first characteristic and one or more flanking portions having different characteristics. These different portions may be used to identify how far the vehicle 12 has deviated from the path (e.g., the central portion) and / or to correct course so that the vehicle 12 is back on the path. In some embodiments, marks and / or patterns (e.g., dots, dashes, lines, ticks, bar codes, QR codes, etc.) may be projected in or near the infrared projection to provide the vehicle 12 and / or the vehicle controller system 14 with certain information (e.g., distance traveled, path information, speed, etc.), or such marks and / or patterns may constitute the infrared projection. In some embodiments, these marks may indicate the validity of the path. For example, missing marks when expected may indicate a fraudulent projection or a projection that should not be trusted for guidance.

[0013] In some embodiments, the path projection system 13 can include a system of infrared laser diodes mounted on the ceiling or walls surrounding the track, or optionally placed quite far from the attraction (since the laser light travels quite far and is collimated (i.e., for drone navigation applications)). The infrared laser emitters can be placed off-axis on the side of the track, or overhead, to minimize occlusions that may result from set or other line-of-sight interference.

[0014] These laser diodes can project a linear pattern of dots, dashes, lines, or other identifiable markings onto the surface of travel. These diodes can be infrared (IR) laser pointers aimed at regular intervals along a track to indicate the center of the path of travel. In another variation, an optical modifier can be included to extend the laser spot to an infrared line segment. This allows multiple line segments to be set in sequence along the path of travel.

[0015] In another variation, optical diffusion gratings or wave guides can be placed in the light path to generate specific projected patterns on the target surface (i.e., bar codes, multiple dots and dashes, QR codes). Fiber optics can also be used for this purpose to direct a single light source in multiple directions simultaneously, reducing the number of light sources and power sources required.

[0016] In another variation, scanning microelectromechanical systems (MEMs) or digital micromirror devices (DMDs) can be used to actively scan out desired programmable infrared light patterns onto the ground or target surface. This technology allows for fixed patterning of space by projecting known infrared patterns onto a moving surface or environment from one or more off-site fixed locations, eliminating the need for a priori knowledge or extensive processing of data to derive position information, such as depth-based or LIDAR-based SLAM navigation systems.

[0017] The vehicle 12 may include one or more cameras / sensors 18 configured to detect infrared projections. The one or more sensors 18 may be positioned along the vehicle 12 (e.g., on the bottom and / or front of the vehicle 12) at a height sufficient to view moving surfaces in front of, behind, and / or around the vehicle 12.

[0018] The infrared pixel data from the camera / sensor 18 can be processed locally or remotely (depending on configuration, weight, power and criticality needs) to either directly determine the necessary adjustments to the vehicle or pass the data on to another computer or PLC for further action (i.e. Estop trigger, warning issuance, automatic course correction).

[0019] The vehicle 12 may also include a controller 20 configured to control the operation of the vehicle 12. The controller may include a memory 22 and a processor 24 configured to execute instructions stored in the memory 22. In some embodiments, the memory 22 may store a set of expected characteristics that should be observed via the sensors 18 when guiding the vehicle 12 along a particular path. The memory 22 may also store additional characteristics that, when observed (or possibly not observed), cause various vehicle actions (e.g., acceleration, deceleration, stopping, turning, show effect animation, etc.). In some embodiments, the memory 22 may store the entire path and any characteristics or changes in the infrared projections associated with the particular path. The controller 20 may be configured to compare the expected characteristics (e.g., from the memory 22 and / or the vehicle controller system 14) with the infrared projections detected by the sensors 18 to identify guidance control of the vehicle 12 along the particular path. In some embodiments, this comparison may enable the controller 20 to make course corrections back on path if the vehicle 12 deviates from the path, or to otherwise perform other actions.

[0020] The controller 20 can control the vehicle 12 via a steering system 26 coupled to wheels on the vehicle 12. The controller can also be coupled to an input device 12 on the vehicle 12. The input device 28 can include a touch screen, one or more buttons, levers, or any other device. The input device 28 can allow passengers to provide inputs that result in route selection and / or modification. For example, the input device 28 can provide passengers with different options for scenarios (e.g., passing through a particular themed portion, difficulty of passing, etc.). Various inputs received via the input device 28 can be associated with particular expected / assigned projection characteristics that the controller 20 utilizes in guiding the vehicle 12. In some embodiments, passengers can provide inputs prior to the start of a ride that determine the initial and / or subsequent routes that the vehicle 12 will utilize. In some embodiments, passengers can provide inputs that modify the route of the vehicle 12 during the ride (e.g., when the vehicle 12 encounters an intersection where the current route intersects with another route). In some embodiments, if the passenger does not provide input, the controller 20 may automatically determine the route (i.e., the expected / assigned characteristics to utilize) in guiding the vehicle 12.

[0021] In some embodiments, the vehicle 12 may follow one or more paths simultaneously, which may induce both translational and rotational motion of the vehicle 12. Indeed, in some embodiments, the controller 12 may employ sensors 18 programmed to track different projected paths. For example, a sensor 18 programmed to track "path 1" may be located at the front of the vehicle 12, and a sensor 18 programmed to track "path 2" (e.g., a path having different characteristics than "path 1") may be located at the rear of the vehicle 12. The controller 20 may control (e.g., via the steering system 26) the wheels of the vehicle 12 located near the front of the vehicle 12 and the wheels of the vehicle 12 located near the rear of the vehicle 12 to follow projected paths corresponding to the tracked path 1 of the sensor 18 and the tracked path 2 of the sensor 18. In this manner, the rotation of the vehicle 12 may be encoded into the layout of the projected paths.

[0022] These inputs may also result in dynamic changes to the characteristics of the infrared projection. For example, if the input indicates a desire to increase vehicle speed, the characteristics of the infrared projection may be altered to cause ride controller system 14 to increase vehicle speed. For example, if the infrared projection currently being followed includes a point, but a dashed line projection indicates that ride controller system 14 should increase speed, then upon receipt of the input, the point projection may be dynamically changed to a dashed line projection, thus indicating to ride controller system 14 to increase speed.

[0023] In some implementations, a path integrity checking system can be added to determine if the path is blocked, damaged or interrupted, or has changed from the expected configuration. An optional set of overhead cameras can be added, or the on-board camera / sensor 18 itself can scan the path ahead to determine if the linear path looks as expected or has unexpected interruptions. Any anomalies can be reported to the control system as faults or low confidence values.

[0024] In variations using projected bar codes or other symbols, the system can determine if any expected symbols are missing, out of sequence, or misaligned / off-axis due to drift, bump or misalignment. The pattern itself can also enable this consistency determination. Repeating patterns, or optionally non-repeating patterns, can also be read, and the camera system itself can determine if an expected pattern, such as dots and dashes, is presented. If not, an error or warning is issued, or measures are taken to correct the problem, or an Estop command is issued at that point.

[0025] Another modification that can be made to protect the system from unintentional infrared light source interference is to modulate the laser light source to match the frame rate of the camera, or modulate the phase of the laser light source so that the sensor filters out unmodulated light sources such as the sun or other set illumination.

[0026] It may be possible to achieve this using standard theatrical Goes Before Optics (gobo) lighting, instead projecting a properly focused infrared light pattern onto the target surface through a physical mask. In fact, gobo lighting fixtures (e.g., gobo changers, slide projector type devices) may be used to provide a measure of real-time control of the projected pattern. This may allow standard lighting installation, fixing, aiming and mounting procedures to be followed, while reducing cost and complexity.

[0027] The controller 20 may also be coupled to a transceiver 30 configured to wirelessly communicate with other vehicles and / or ride controller systems 30 that may be on the route. In some embodiments, the vehicle 12 may communicate its selected projection characteristics, position, speed, future changes in projection characteristics, and / or other information to the other vehicles and / or ride controller systems 14 via the transceiver 30. In some embodiments, the controller 20 may receive the same information regarding other vehicles from the vehicles and / or ride controller systems 14 via the transceiver 30. In some embodiments, the vehicle 12 may be autonomous from the ride controller system 14. In some embodiments, control of the vehicle 12 by the controller 20 may be overridden via the ride controller system 14.

[0028] The ride controller system 14 may include a controller 32 that controls one or more vehicles 12 within the entertainment attraction. In some embodiments, the controller 32 may communicate (e.g., via one or more particular projected characteristics) a particular path that a particular vehicle 12 will take. In some embodiments, the ride controller system 14 may provide the vehicle 12 with the entire path and any characteristics or changes in characteristics associated with the particular path. In some embodiments, the ride controller system 14 may provide information to a particular vehicle 12 related to other vehicles (e.g., expected projected characteristics, location, speed, expected future changes in characteristics, and / or other information). The behavior of the vehicle 12 related to the particular projected characteristics may already be stored in the vehicle 12 and / or may be provided to the vehicle 12 by the ride controller system 14. The controller 32 may be coupled to a transceiver 38 that enables wireless communication with the vehicle 12.

[0029] Processors 20, 32 may each include multiple processors, one or more "general purpose" microprocessors, one or more special purpose microprocessors, and / or one or more application specific integrated circuits (ASICs), or any combination thereof. For example, each processor 20 and 32 may include one or more Reduced Instruction Set (RISC) processors, Advanced RISC Machine (ARM) processors, Advanced RISC Performance Optimized (PowerPC) processors, Field Programmable Gate Array (FPGA) integrated circuits, Graphics Processing Units (GPUs), or any other suitable processing devices.

[0030] Each memory device 22 and 34 may include volatile memory, such as random access memory (RAM), non-volatile memory, such as read-only memory (ROM), flash memory, or any combination thereof. Each memory device 22 and 34 may store a variety of information that may be used for a variety of purposes. For example, each memory device 22 and 34 may store processor-executable instructions (e.g., firmware or software) for execution by the respective processor 20 and 32, such as instructions to control the vehicle 12. The storage device(s) (e.g., non-volatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or combinations thereof.

[0031] FIG. 2 illustrates an embodiment of an amusement park environment utilizing the ride vehicle guidance system 10 of FIG. 1. The vehicle 12 illustrated is as described in FIG. 1. The vehicle 12, configured to hold one or more passengers, may include wheels 42 on a bottom 40 of the vehicle 12 that enable the vehicle 12 to move along a path 44 on a surface 46. The number of wheels 42 may vary. In some embodiments, the means for moving the vehicle may vary (e.g., tracks, etc.). The wheels 42 may be coupled to a steering system as described above. The vehicle 12 may also include sensors 18 as described above on the bottom 40 (or other portions).

[0032] As shown, multiple paths 44 may be projected onto the surface 46. The paths 44 may include straight and / or curved portions. Three paths 48 (solid lines), 50 (dashed lines), and 52 (dash-dotted lines) are shown in the figure. The number of paths 44 may vary. In some embodiments, the paths 44 or portions of the paths 44 may relate to a particular theme. In some embodiments, the paths 44 or portions of the paths 44 may relate to different thrill levels. For example, a less thrilling path may include more straight portions, slower speeds, and / or gentler curves. A more thrilling path may include more curved portions, faster speeds, sharper curves, and / or spins. The paths 48, 50, 52 all intersect at points 54 and 56. The paths 48 and 50 also intersect at point 58. Each path 44 may be defined primarily by different projection characteristics, such as different projection patterns (e.g., dashed line, dashed line, dashed line vs. dashed line, dot, dashed line), different projection shapes (e.g., first barcode vs. second barcode, or circle vs. square, etc.), different spacing between shapes, different projection thickness, etc. For example, the projection characteristics defining paths 48, 50, and 52 may each emit many different projection characteristics. One advantage of utilizing infrared projection to define paths 44 is that paths 44 may be easily altered on surface 46 with little to no facility cost. For example, different infrared sources may be activated to create entirely different sets of paths 44 or sets of characteristics of paths 44 that alter the control of vehicle 12. The vehicle may be in darkness or in a lit area.

[0033] Intersections 54, 56, and 58 may emit a combination of convergent characteristics of the paths 44. The vehicle's 12 controller may be programmed to recognize these as convergence points, identify characteristics beyond these points, discover the assigned path 44 beyond the intersection, and continue moving the vehicle 12 along the assigned path. In some embodiments, the vehicle 12 may change route at intersections 54, 56, 58 as programmed into the vehicle's 12 controller or based on input received from passengers and / or stored anticipated changes in characteristics of the vehicle's 12 controller. However, in some embodiments, the illumination of the projected path at intersections 54, 56, 58 (e.g., path branching points) may be controlled such that the vehicle 12 does not necessarily have to determine which path to take upon arriving at or approaching the intersection 54, 56, 58. In other words, the vehicle 12 and the path projection system 13 can be communicatively coupled to one another such that the projection system 13 illuminates portions of the vehicle 12's path that are in the immediate vicinity of the vehicle 12 and deactivates portions of the vehicle 12's path that are away from the immediate vicinity of the vehicle 12 (e.g., relatively far away) based on the location of the vehicle 12. The path projection system 13 can also deactivate illumination of other paths based on the location of the vehicle 12 (or other information). For example, a controller (e.g., controller 20 of FIG. 1 ) can use the location of the vehicle 12 to determine whether the path projection system 13 should illuminate and / or deactivate illumination of one or more projected paths (or one or more portions of one or more projected paths) at intersections 54, 56, 58. This allows the projected paths programmed into the vehicle 12 to be the only projected paths observed by the sensor 18 at or near the intersections 54, 56, 58. In this manner, the control system (e.g., controller 20 of FIG. 1) on board the vehicle 12 may be simplified since the vehicle 12 does not need to sort through multiple paths at the intersections 54, 56, 58. Additionally, activating and / or deactivating the projected path lighting at the intersections 54, 56, 58 may ensure that two vehicles 12 are not in the same zone (e.g., a "break zone") as one another.

[0034] Additionally, if the vehicle 12 incorporates input from the guest indicating route or route characteristic preferences in determining which route to take at the intersections 54, 56, 58, this input can be transmitted to a ride controller system (e.g., ride controller system 14 of FIG. 1 ). In response to receiving the input, the ride controller system can cause the path projection system 13 to project a path based on the input (e.g., guest preferences) and the rules of the attraction. In other words, the ride controller system can determine which paths should be activated (driven) and / or deactivated based on the guest preferences and the rules for the attraction.

[0035] As shown in FIG. 3, multiple vehicles 12 may simultaneously travel along a path 44 on a surface 46. The vehicles 12 and paths 44 are as described above. Three vehicles 60, 62, 64 and three paths 66, 68, 70 are shown. The number of vehicles 12 and paths 44 may vary. Each vehicle 60, 62, 64 may travel along a respective path 66, 68, 70 based on expected characteristics associated with the respective path. The vehicles 60, 62, and 64 may communicate with each other and / or with the ride controller system. Thus, the vehicles 60, 62, and 64 and / or the ride controller system may be aware of the location of the other vehicles during the ride. In some embodiments, the vehicles 60, 62, 64 may change the path 44 (either pre-determined or in response to passenger input). In some embodiments, passenger-input route changes may be overridden (e.g., by the passenger's vehicle and / or the ride controller system) due to the location of the other vehicles 12. In some embodiments, the passenger may not be presented with certain options for passenger input due to the location of the other vehicles. In some embodiments, vehicle 12 may accelerate, decelerate, or stop in response to the location of other vehicles, the lack of expected characteristics in the infrared projection followed by vehicle 12, or both. In some embodiments, multiple vehicles 12 may travel on the same path 44.

[0036] FIG. 4 illustrates an embodiment of a portion of the path 44 taken within line 4-4 of FIGS. 2 and 3 with different projection characteristics that make up the path 44. As shown in FIG. 4, the path 44 can include a center portion 72. In this embodiment, the center portion 72 includes a first characteristic of a QR Code pattern for guiding the vehicle 12 along the path 44. The expected QR Code can vary along the course of the center portion 72 for added security. This can help ensure that the pattern cannot be easily copied by unauthorized projection (e.g., from a vehicle user, etc.).

[0037] The central portion 72 can be adjacent to multiple adjacent portions. For example, the central portion 72 can be adjacent to a first adjacent portion 74, and both the central portion 72 and the first adjacent portion 74 can be adjacent to a second adjacent portion 76. The number of adjacent portions can also vary. In some embodiments, the first adjacent portion 72 can have both a left portion and a right portion defined by a second characteristic different from the central portion 72, the second adjacent portion 76, and any other adjacent portions. Here, the first adjacent portion 72 includes a repeating circle pattern. The third adjacent portion 76 can have both a left portion and a right portion defined by a characteristic different from the central portion 72, the first adjacent portion 76, and any other adjacent portions. Here, the third adjacent portion 76 includes a repeating dashed line pattern.

[0038] In some embodiments, the characteristics of the adjacent portions 74, 76 may be associated with an indication of how far the vehicle 12 has deviated from the central portion 72 (e.g., distance, percentage, etc.). In some embodiments, the characteristics projected by the adjacent portions 74, 76 may be associated with commanding the vehicle 12 to correct (e.g., correct left, correct right, etc.) toward the central portion 72. In some embodiments, the characteristics projected by one or more inner adjacent portions may be associated with an indication of how far the vehicle 12 has deviated from the central portion 72, and the characteristics projected by the outermost adjacent portions may be associated with commanding the vehicle 12 to correct toward the central portion 72. In some embodiments, the characteristics projected by the outermost adjacent portions may be associated with commanding the vehicle 12 to stop due to deviation from the path 44. In some embodiments, the adjacent portions may have different widths. For example, the length of the central portion 72 may be wider than the first adjacent portion 74 and / or the second adjacent portion 76. The wider adjacent portions may be utilized to reduce false positives in portions of the vehicle where there is not an easy object to hit nearby. Additionally, the employment of a relatively wide adjacent portion may be used in a vehicle to enable a guest to exercise driving control (e.g., steering control) of the vehicle while keeping the vehicle within a safety zone (e.g., a particular lane) indicated by the adjacent portion of the route.

[0039] It should be noted that the path projection system 13 can project a path onto the ride floor of the attraction. The ride floor can be covered with the projected path 44 in a pattern such as concentric circles of different radii with different projection patterns corresponding to different restrictions. The attraction can allow guests free driving on the ride floor, but can also employ certain restrictions (e.g., speed limits, time limits, boundary zones, etc.) based, for example, on the characteristics of the particular concentric circle that the vehicle occupies on the ride floor. The different projection patterns can be utilized in determining the location (or other information) of the vehicle on the ride floor.

[0040] FIG. 5 illustrates an embodiment of a portion of the path 44 taken within line 4-4 of FIGS. 2 and 3 with symbols or markings 78 adjacent the path 44. As shown in FIG. 5, the symbols or markings may be projected adjacent the path 44 for detection by the vehicle 12. As shown, the symbols or markings 78 may be bar codes. In some embodiments, the symbols or markings may be scales, shapes, numbers, patterns, QR codes, or any other type of marking. The symbols or markings 78 may convey information about the path 44 (e.g., distance traveled, route information, speed, etc.) to the vehicle 12 and / or vehicle controller system.

[0041] FIG. 6 illustrates an embodiment of a portion of a path 44 taken within line 4-4 of FIGS. 2 and 3, having different characteristics over the course of the path 44. As illustrated, a majority of the path 44 (e.g., region 80) can be defined by a first characteristic (e.g., a diagonal line pattern as shown here) for guiding the vehicle 12 along the path 44. Other regions along the path 44 can include different characteristics that can be associated with different control actions of the vehicle 12. For example, region 80 can project a diagonal line pattern while region 82 can project a double adjacent circle pattern. In some embodiments, the characteristic projected by region 82 can cause the vehicle 12 to rotate or perform some other action (e.g., bounce, lean, etc.). In some embodiments, based on observation of this characteristic, the vehicle controller can trigger a show animation. In some embodiments, other regions (e.g., regions 84, 86) can provide other control actions for the vehicle 12 (e.g., accelerate, decelerate, stop, etc.). One or more regions similar to regions 84, 86 can be spaced apart or in contact with each other. These regions 84, 86 can include different projection characteristics from each other and from region 80. Each region 80, 84, 86 can control some characteristic of the vehicle 12. For example, each region 80, 84, and 86 can be associated with a particular speed of the vehicle 12. For example, region 80 can be associated with a normal speed of the vehicle 12 along the path 44, region 84 can be associated with a faster speed, and region 86 can be associated with an even faster speed. Alternatively, region 84 can be associated with a slower speed, and region 86 can be associated with an even slower speed. In some embodiments, the change in projection characteristics by region can have a gradual transition. For example, in some embodiments, regions 80, 84, 86 can project different sized magnitudes of a common shape or pattern, where the shape or pattern indicates a speed change (or other control type) and the magnitude indicates the magnitude of the speed change (or other control type). The path 44 can also include a combination of regions for both acceleration and deceleration of the vehicle 12.

[0042] FIG. 7 is a flow chart of an embodiment of a method 88 for guiding a vehicle 12 in an entertainment attraction utilizing the ride vehicle guidance system 10 of FIG. 1. One or more of the steps of the method 88 may be performed by the vehicle's controller 20 and / or the ride controller system 14. One or more of the steps of the method 88 may also be performed simultaneously and / or in a different order than that shown. The method 88 may include acquiring an infrared projection characteristic for guiding the vehicle 12 along the path 44 (block 90). In some embodiments, the vehicle 12 may acquire multiple characteristics. For example, a first portion of the ride may follow a first path having a first characteristic and a second portion of the ride may follow a different path having a different characteristic. Each vehicle 12 may be assigned a specific path (with a specific expected characteristic to discover and follow). The specific expected characteristic to be assigned may be acquired from a respective memory of the vehicle's controller 20 and / or the ride controller system 14. In some embodiments, prior to the start of the ride, passengers may provide input based on presented selections (e.g., regarding theme, thrill level, etc.), and the input may relate to one or more particular expected characteristics associated with one or more routes 44. In some embodiments, if multiple vehicles are to be utilized during the ride, each vehicle 12 may obtain its respective expected characteristics or set of expected characteristics to define its respective route. In some embodiments, in the case of multiple vehicles, each vehicle 12 may obtain expected characteristics and / or other information regarding the other vehicles and their respective routes before or during the ride. Based on the expected characteristic set, some vehicles 12 may be instructed to ignore certain control characteristics, while other vehicles may be instructed to execute a control action when the same characteristic is detected. For example, one vehicle 12 may ignore a double adjacent circle pattern that would typically instruct the vehicle 12 to spin, while another vehicle 12 may spin when such a characteristic is observed.

[0043] The method 88 may also include detecting an infrared projection on a moving surface at the vehicle 12 (block 92). The method 88 may further include detecting, via a sensor on the vehicle 12, a characteristic projected by the infrared projection (block 94). For example, the infrared projection may project a particular pattern, such as a shape, size, thickness, object, etc.

[0044] The method 88 may include comparing the detected characteristic to an expected characteristic associated with the vehicle 12 (block 96). If the detected characteristic is the same as the expected characteristic, the method 88 may include guiding or moving the vehicle 12 along the path 44 and / or performing other control actions based on the matching expected and detected characteristics (block 98). For example, the control functions of the vehicle 12 may indicate that the vehicle 12 should accelerate, lean, spin, trigger a show feature, etc. when a particular characteristic is observed. Thus, the vehicle 12 may initiate an action (e.g., via a vehicle controller) when such a characteristic is observed.

[0045] If the detected characteristics differ from the expected characteristics, method 88 may include vehicle 12 taking mitigating action. For example, in some instances, observing such a difference may indicate that the vehicle is on an incorrect path 44. Vehicle 12 may be stopped and / or instructed to return to the correct path (e.g., by activating an intermediate projection that vehicle 12 follows to return to the correct path 44).

[0046] In some embodiments, the method 88 may include receiving input from a passenger during the ride (block 102). The passenger may provide input based on a presented selection (e.g., regarding theme, thrill level, etc.), and the input may relate to one or more particular characteristics associated with one or more routes 44. In some embodiments, the input may relate to the same characteristics and the vehicle 12 maintains the same route. In some embodiments, the passenger input may relate to different characteristics that change the expected characteristics and thus the route 44 along which the vehicle 12 is guided (block 104). In some embodiments, the input may change the characteristics that are projected along an already assigned route. For example, if the route currently being followed projects dots, the projection may dynamically change to a dashed line.

[0047] Although the above embodiments relate to amusement rides, the same techniques can be used in other applications. For example, these techniques can be applied to any automated guided vehicle (AGV). Also, these techniques can be applied to moving elements in ride / show environments that are not designed for human transportation. For example, an anime figure (such as a walking robot) can move on a path with light projection using the same projected light navigation system described above. Furthermore, while the description focuses on infrared projection, other projections such as visible light projection can be used. This description is not intended to limit the embodiments to amusement rides or infrared projection.

[0048] While only certain features of the 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 that are in keeping with the true spirit of the disclosure. The technology shown and claimed herein refers to and applies to tangible objects and specific examples of a practical nature that will certainly improve the art and are therefore not abstract, intangible, or purely theoretical. Furthermore, if any claim appended at the end of this specification includes one or more elements designated as "means for [performing] ... [function]" or "step for [performing] ... [function]," such elements are to be construed pursuant to 35 U.S.C. 112(f). On the other hand, for any claim that includes elements designated in any other manner, such elements are not to be construed pursuant to 35 U.S.C. 112(f). [Explanation of symbols]

[0049] 10 Vehicle Guidance System 12 Vehicles 13 Route Projection System 14 Vehicle Controller System 18 Sensors 20 Controller 22 Memory 24 processors 26 Steering System 28 Input Devices 30 Transceiver 32 Controller 34 Memory 36 processors 38 Transceiver

Claims

1. 1. A system for guiding a vehicle, comprising: a plurality of paths on a surface, each path defined by a light projection characteristic different from the light projection characteristics defining other paths of the plurality of paths; A vehicle, The vehicle is a memory storing one or more expected light projection characteristics, each associated with a control action; a sensor configured to detect a light projection characteristic of each of the plurality of paths; a controller configured to control the vehicle along the respective paths based on a control action associated with the light projection characteristics detected by the sensor; Including, A system for guiding vehicles.

2. 2. The system for guiding a vehicle as described in claim 1, wherein the controller is configured to determine which of the plurality of paths to guide the vehicle along based on an input, the input being related to a particular light projection characteristic.

3. 3. The system for guiding a vehicle as described in claim 2, wherein the controller is configured to receive inputs during movement along the paths of the plurality of paths and, based on the inputs, to vary which paths of the plurality of paths the vehicle is guided along by modifying expected light projection characteristics associated with movement of the vehicle.

4. 2. The system for guiding a vehicle of claim 1, wherein the detected light projection characteristics of the respective paths change to different detected light projection characteristics at different locations along the respective paths.

5. 5. The system for guiding a vehicle as described in claim 4, wherein the different detected light projection characteristics represent different speeds of the vehicle along the respective paths, and the controller is configured to adjust the speed of the vehicle along the respective paths based on the different detected light projection characteristics.

6. The system for guiding a vehicle of claim 4 , wherein the controller is configured to spin the vehicle based on a change in one or more of the different detected light projection characteristics.

7. 2. The system for guiding vehicles as described in claim 1, further comprising a plurality of vehicles disposed on different ones of the plurality of routes, wherein a controller of each of the plurality of vehicles is configured to simultaneously guide the plurality of vehicles on the plurality of routes.

8. 2. The system for guiding a vehicle as recited in claim 1, wherein the respective paths of the plurality of paths include a central portion including a first light projecting characteristic and a first portion adjacent the central portion including a second light projecting characteristic.

9. 9. The system for guiding a vehicle of claim 8, wherein the controller is configured to steer the vehicle back to the central portion of the respective one of the plurality of paths in response to detecting the second light projection characteristic.

10. 1. A system for guiding a vehicle, comprising: a plurality of paths on the surface, each path being defined by a light projection characteristic of a corresponding light projection; a plurality of vehicles; Each vehicle of the plurality of vehicles is a sensor configured to detect one or more light projection characteristics of each of the plurality of paths; a controller configured to control the vehicle along the respective paths based on the one or more light projection characteristics detected by the sensor; Including, the light projection characteristics of each path of the plurality of paths are configured to distinguish each path from other paths of the plurality of paths. A system for guiding vehicles.

11. 11. The system for guiding vehicles as described in claim 10, wherein each vehicle is configured to move along a different path by assigning each vehicle a different light projection characteristic to be followed by each of the plurality of vehicles currently moving.

12. 11. The system for guiding vehicles of claim 10, wherein at least a subset of the plurality of vehicles is configured to travel simultaneously along the plurality of paths by assigning a common light projection characteristic to the subset of the plurality of vehicles.

13. The system for guiding vehicles of claim 10 , wherein the light projections are invisible to passengers within the plurality of vehicles.

14. 14. The system for guiding a vehicle as described in claim 13, wherein the controller is configured to vary which of the plurality of paths the vehicle is guided along based on an input during travel along one of the plurality of paths, the input relating to a particular light projection characteristic to follow.

15. 14. The system for guiding a vehicle of claim 13, wherein the light projection is configured to project different light projection characteristics at different locations along the respective paths of the plurality of paths.

16. 16. The system for guiding a vehicle as described in claim 15, wherein at least a subset of the different light projection characteristics represent different speeds of the vehicle along the respective paths of the plurality of paths, and the controller is configured to adjust a speed of the vehicle along the respective paths of the plurality of paths based on detecting the at least the subset of the different light projection characteristics.

17. 16. The system for guiding a vehicle as described in claim 15, wherein at least a subset of the distinct light projection characteristics represent a control request to trigger an attraction feature external to the vehicle along the respective path of the plurality of paths, and the controller is configured to trigger the attraction feature along the respective path of the plurality of paths based on detecting the at least the subset of the distinct light projection characteristics.

18. 1. A method for guiding a vehicle, comprising: obtaining, at a controller of the vehicle, expected light projection characteristics for guiding the vehicle along a path, the path being among a plurality of paths on a surface, each path among the plurality of paths being defined by a different light projection characteristic of an associated light projection; detecting, via a sensor on the vehicle, a light projection characteristic of a first path that matches the expected light projection characteristic; guiding, via the controller, the vehicle along the first path of the plurality of paths based on the light projection characteristics matching the expected light projection characteristics; 23. A method for guiding a vehicle, comprising:

19. 20. The method for guiding a vehicle of claim 18, wherein the expected light projection characteristics include an expectation of a particular bar code, a particular QR code, a particular shape, a particular object pattern, or any combination thereof.

20. 20. The method for guiding a vehicle of claim 18, comprising ceasing movement of the vehicle if the expected light projection characteristic cannot be detected by the sensor on the vehicle.

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