Interaction System for Animated Figures

Abstract

An interaction system for an animated figure is provided, including an animated figure having a shell layer including a shell sensor. The shell sensor is embedded in or adhered to the shell layer and configured to detect applied pressure via capacitive touch technology, resistive touch technology, or both. The interaction system further includes an automated controller, a shell layer, and a compliance system including the shell sensor. The shell sensor senses pressure applied on the shell layer of the animated figure and monitors movement of the animated figure in response to the applied pressure. The automated controller determines whether the responsive movement exceeds a movement threshold associated with the animated figure. If the movement exceeds the movement threshold, the automated controller returns the animated figure to a movement threshold compliance state.

Description

[Background technology]

[0001] Some entertainment settings, such as in amusement parks, can include animated figures that interact with guests at amusement parks. Additionally, in amusement parks, the animated figures can encounter objects during their interactions, either in the form of interactions with guests or in the form of physical obstacles, such as walls or steps. Sometimes, the interactions, whether with guests or objects, involve the animated figures moving, repositioning, etc. Specifically, the movements can include moving limbs or other body features of the animated figures to interact with guests. For example, the animated figures can move their arms, elbows, hands, one or more fingers, etc. to make a gesture, such as waving to a guest, and then these body features can be removed after the gesture is completed.

[0002] However, moving these body features and / or replacing them can often cause the animated figure to behave in unexpected ways. For example, body features may be ejected at unexpected speeds, which may cause collisions with other body features of the animated figure. Similarly, the animated figure may move body features with unexpected speeds or forces, causing the animated figure to interact with surrounding features in an entertainment environment (e.g., amusement park features) in unexpected ways. Summary of the Invention

[0003] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the disclosure; rather, these embodiments are intended merely to provide a brief summary of certain disclosed embodiments. Indeed, the disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below.

[0004] In one embodiment, the interaction system includes an animated figure. The animated figure includes one or more shell layers including one or more shell sensors configured to sense applied pressure. The animated figure may also include one or more actuators and a compliance system configured to move the animated figure. The compliance system is configured to receive first input data from the shell sensors, initiate a control routine to move the one or more actuators in response to the first input data meeting a first criterion, receive second input data after initiating the control routine, and adjust the control routine in response to the second input data moving out of compliance with the control routine.

[0005] In one embodiment, a method for monitoring compliance of an animated figure includes sensing forces on the animated figure based on input data derived from one or more shell sensors disposed on the animated figure. The method also includes determining, via an automated controller, that the animated figure exceeds a movement threshold associated with the animated figure based at least in part on the input data from the one or more shell sensors. The method also includes sending compliance commands from the automated controller to one or more actuators to cause movement of the animated figure to conform to the movement threshold. The compliance commands include commands for the actuators to pause, stop, reverse, accelerate, or any combination thereof. In one embodiment, a compliance system includes one or more shells disposed on the animated figure and including one or more shell sensors. The compliance system also includes one or more actuators and an automated controller. The automated controller is configured to monitor and control the animated figure via the one or more actuators based on input data received from the one or more shells according to the movement threshold associated with the one or more shells.

[0006] These and other features, aspects, and advantages of the present disclosure will be better understood when the following detailed description is read in conjunction with the accompanying drawings, in which like characters represent like parts throughout the drawings. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram of an animated figure interacting with guests according to an embodiment of the present disclosure. [Figure 2A] FIG. 2A is a schematic diagram of one or more shells on the animated figure of FIG. 1, according to an embodiment of the present disclosure. [Figure 2B]FIG. 2B is a schematic of one or more shells on the animated figure of FIG. 1, according to an embodiment of the present disclosure. [Figure 3] FIG. 3 is a block diagram of a compliance control system for monitoring and manipulating the animated figure of FIG. 1 according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a block diagram of a compliance control system for monitoring and manipulating the animated figure of FIG. 1 according to an embodiment of the present disclosure. [Figure 5] FIG. 5 is a process flow diagram of a method for monitoring compliance for the animated figure of FIG. 1 according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0008] One or more specific embodiments of the present disclosure are described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described herein. It should be understood that in the development of any such actual implementation, as in any engineering or design project, numerous implementation details are determined in order to achieve the developer's particular goals, such as compliance with system-related and business-related constraints, which may vary from implementation to implementation. It should also be understood that such a development effort may be complex and time-consuming, but would nevertheless be a routine undertaking to design, fabricate, and manufacture for one of ordinary skill in the art having the benefit of this disclosure. Furthermore, to the extent that certain terms, such as parallel, perpendicular, etc., are used herein, it should be understood that these terms permit certain deviations from their strict mathematical definitions (as understood by one of ordinary skill in the art), for example, deviations associated with manufacturing defects and tolerances.

[0009] When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” and “the” are intended to mean that there are one or more elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. In addition, it should be understood that references to “one embodiment,” “an embodiment,” or “some embodiments” of the present disclosure are not intended to exclude the existence of additional embodiments that also incorporate the recited features. Use of the terms “approximately” or “near” should be understood to mean proximity to a target (e.g., a design, value, amount), such as within any suitable or predictable range of error (e.g., within 0.1% of a target, within 1% of a target, within 5% of a target, within 10% of a target, within 25% of a target, etc.).

[0010] The present disclosure relates generally to the field of amusement parks. Specifically, embodiments of the present disclosure relate to techniques for ensuring that interactive animated figures (e.g., animatronics) in amusement parks behave as expected and respond appropriately when encountering objects, guests, or physical obstacles such as walls or steps.

[0011] Entertainment environments can sometimes include animated figures as part of a guest's entertainment experience. The animated figures can interact with guests in a variety of ways, such as by making certain movements or gestures toward the guest, or by physically interacting with the guest (e.g., responding appropriately to the guest's touch). That is, the animated figures can move toward or away from the guest (e.g., walking or running toward or away from the guest), perform actions consistent with a theme associated with the entertainment environment, make gestures toward the guest that require contact with the guest, such as shaking hands or waving at the guest, or otherwise move in a manner that interacts with the guest. With each movement, the animated figure can activate one or more components of the animated figure. The components can correspond to limbs or appendages (e.g., hands and feet), limbs such as the head, or parts of limbs, or other parts of the animated figure (e.g., torso, head features).

[0012] The movement of components on the animated figure in response to an encounter with a guest or another object may be performed without regard to speed or force, causing the animated figure to move in unexpected ways. As an example, the animated figure may encounter an object (e.g., crash into a wall or fall off a step) while retreating or moving away from a guest at a particular speed. That is, the animated figure may move with unexpected speed, force, direction, or any combination thereof in response to this encounter. Furthermore, the speed of movement of the animated figure's response may be relatively faster than the sensors associated with the animated figure that are used to detect nearby objects and prevent such collisions with physical objects.

[0013] Additionally, animated figures may encounter guests, who may interact with them by touching them, such as with the animated figure's forearm (e.g., for the animated figure to further attempt and interact with the guest), the animated figure's hand (e.g., a "one-handed high-five"), or the top of the animated figure's head (e.g., a light pat on the top of the head). In such situations, it may be desirable to have the animated figure respond to the guest's touch to further enhance the illusion experienced by the guest. The response from the animated figure may cause the animated figure to move with unexpected speed, force, direction, or any combination thereof. Furthermore, the speed at which the animated figure moves may be relatively faster than the sensors associated with the animated figure that are used to detect nearby objects and prevent such collisions with physical objects.

[0014] In some examples, an animated figure can include a torque sensor or the like on a component, which can be an actuator or other mechanical linkage. The torque sensor can measure a reaction force generated by the component that generates a torque, such as by actuating to perform a movement in response to an encounter. The velocity and / or force for actuating the component to perform a response can be reduced based on the reaction force measurement.

[0015] However, torque sensors can be large, often resulting in an animated figure with increased weight and increased surface area than an animated figure without torque sensors, thus reducing the weight and space that would otherwise be available for other components of the animated figure. These other components may provide special effects or other entertainment effects as part of the entertainment provided by the animated figure. Therefore, it should be readily appreciated that improved methods and systems are desirable for verifying that animated figures follow movement expectations (e.g., move in expected ways) when responding to encounters with guests or objects, including physical obstacles. The improved methods and systems can reduce the weight and / or space of animated figures that include torque sensors.

[0016] Improved methods and systems can include utilizing an interaction system having pressure-sensing technology, including, for example, resistive touch technology or capacitive touch technology, embedded in or attached to a shell on an animated figure. The pressure-sensing technology embedded in or attached to the shell can detect applied pressure from contact with an object or human (e.g., force), such as a guest touching the shell on the animated figure or an animated figure encountering a physical obstacle such as a wall. For purposes of this disclosure, the term "applied pressure" means pressure from physical contact with the shell and includes force through either shell deformation, capacitive touch, resistive pressure-sensitive touch, or any combination thereof. For example, as described above, an animated figure can encounter an object, which can be a physical obstacle or a guest. Providing an enhanced interaction experience with the guest allows the guest to act as an object. That is, the guest can physically interact with the animated figure, as described above. The animated figure can then sense human contact via pressure-sensing technology embedded in or attached to the shell of the animated figure. The applied pressure (e.g., force) generated by the sensed conductive force source (e.g., human touch) can be compared to a reference value. If the reference value is exceeded, the animated figure responds to the human touch. The response and responsive force can be selected from a menu of available options. The selected response can include, for example, a reciprocated one-handed high-five, a hug, or a pat on the head or moving away from the customer. The selection of the response can be based on the zone in which the human touch is sensed. That is, the response selected when human touch is sensed on the animated figure's hand can be different from the response selected when human touch is sensed on the animated figure's head.In a similar manner, the force of the selected response can be based on the zone in which human contact is sensed, or can be based on the selected response itself (e.g., the force of a reciprocated one-handed high-five can be greater than the force of a reciprocated hug). The response of the animated figure can be measured by a compliance system. As used in this disclosure, the term "compliance" means to act or change direction in an expected manner, for example, in response to an encounter with a guest or physical obstacle, in accordance with a protocol including a control routine and movement thresholds corresponding to the animation profile. For example, if the animated figure responds to the encounter in an unexpected way, such that the animation figure's movements are outside of predetermined movement thresholds based on the animation profile, the animated figure is considered to be out of compliance until the protocol corresponding to the animation profile causes the animation figure to adjust or stop its movements until they are within the movement thresholds. Thus, "compliance" refers to causing an animated figure to operate in an expected manner, i.e., conform to a protocol (i.e., control routines and movement thresholds), such as operating according to an animation profile and operating within movement thresholds, and / or stopping movement outside of movement thresholds, thereby allowing the animated figure's movement to be altered or redirected based on additional information, such as input data indicating an unexpected movement or an unexpected obstacle to movement. For example, when input data indicates an unexpected obstacle or an error in the animated figure's movement outside of a movement threshold, but no correction, redirection, or stopping command is issued, the animated figure is not in a compliant state. By making corrections to the movement, the animated figure can be brought back into compliance, thereby returning the animated figure to within the movement thresholds, such as by stopping, redirecting, or modifying the animated figure's movement.

[0017] Alternatively or additionally to capacitive sensing technology, an interaction system can utilize non-capacitive sensing technology, such as a depth-sensing camera or non-capacitive pressure sensing technology (e.g., resistive touch technology). Non-capacitive pressure sensing technology can enable an animated figure to encounter and respond to pressure (e.g., force) sensed from a non-conductive force. For example, non-capacitive pressure sensing technology in an interaction system can monitor the movement of an animated figure when it encounters an inanimate object (e.g., a wall, a vehicle, etc.) or a non-capacitive human contact (e.g., a one-handed high-five from a wet hand or a hug from a long-sleeved person). These situations may not be applicable when an animated figure encounters a non-capacitive force. In such situations, non-capacitive pressure sensing technology can be used to detect an encounter with an object or non-capacitive contact, and the pressure (e.g., force) sensed from the encounter can be compared to a reference value. If the reference value is exceeded, the animated figure can still respond. The animated figure's response and the force of the response can be selected from a menu of available options. The selection of the response can be based on the zone in which the non-conductive force is sensed and / or the quality of the non-conductive force (e.g., the temperature of the non-conductive force, whether the encounter is with a stationary object or from a "soft," non-capacitive contact, the amount of pressure sensed during the encounter with the non-conductive force, etc.). That is, the response selected when the non-conductive force is from a non-capacitive human contact on the animated figure's hand can be different from the response selected when the non-conductive force is from an inanimate object striking the back of the animated figure's head. In a similar manner, the force of the selected response can be based on the zone in which the non-conductive force is sensed, the quality of the non-conductive force, or the selected response itself.

[0018] The selected response can be a movement of the animated figure and can be achieved by an actuator within the animated figure. The response from the animated figure can cause the animated figure to move with unexpected speed, force, direction, or any combination thereof. Furthermore, the speed of movement of the animated figure can be relatively faster than sensors associated with the animated figure that are used to detect nearby objects and prevent such collisions with physical objects. Thus, the compliance system can be used to verify that the animated figure follows movement expectations (e.g., moves in a predetermined manner) when responding to an encounter with an object, including a guest or a physical obstacle. When the compliance system determines that the animated figure is not conforming to expected movement (e.g., not moving in an expected manner), for example, based on detecting an obstacle or other unexpected event, the compliance system will implement corrections, including stopping, redirecting, or changing movement, until the animated figure is compliant.

[0019] In some examples, the shell of an animated figure in which pressure-sensing technology is located is modular and removable. In this way, a shell used for one animated figure can be removed from one animated figure and attached to another animated figure that can operate in a similar situation, so that both figures are suitable for sensing and responding to pressure and / or capacitive touch in a similar manner. In such a situation, a single set of shells can be used for multiple animated figures without retuning how the shells sense and respond to pressure or touch. Furthermore, having modular and removable shells can reduce financial and time costs, because shells can be reused from existing characters to new characters.

[0020] It should be noted that while the examples provided herein may be specifically directed to particular features of animated figures in an amusement park, the techniques of the present disclosure may be applied to other conditions and / or situations. Thus, it should be understood that the examples reflect a real-world example of an amusement park to provide a useful context for discussion and should not be considered as limiting the further applicability of the present approach. For example, the present disclosure should be understood as being applicable to additional or alternative situations, such as those relating to components of electric vehicles, factories, machinery, air conditioning systems, etc., where monitoring of actuators for speed, force, pressure, and other measurable actuation characteristics of actuation may be utilized. Furthermore, while the present disclosure generally discusses systems and methods with respect to animated figures, the systems and methods may be applied to any animated figures, such as marionettes, for example, features in an amusement park ride that can move as the ride vehicle progresses along the ride track of the amusement park ride.

[0021] With the above in mind, FIG. 1 is a schematic diagram of an animated figure 12 interacting with a guest 14, where the animated figure 12 may be integrated with or in communication with the interaction system discussed herein. As part of the interaction, the animated figure 12 may move one or more limbs 16. In the depicted embodiment, the limbs 16 may include a first limb 16A, a second limb 16B, and a third limb 16C. The first limb 16A may include a head, which may move up and down, left and right, etc., as components of the first limb 16A are actuated to interact with the guest 14. The second limb 16B may be an upper limb, including an upper arm, a forearm, and / or a hand. The second limb 16B may extend from the shoulder of the animated figure 12 to the fingers. The second limb 16B can also include components that are actuated to provide movement at the second limb 16B, where the movement can include bending the arm, lifting the arm, moving the hand, etc., to interact with the guest 14. Similarly, the third limb 16C can be a lower limb, including the hips, legs, knees, ankles, and / or feet. Additionally, the third limb 16C can also include components that are actuated to provide movement at the third limb 16C to interact with the guest 14, such as movement including bending the knee, lifting the leg, moving the hips and / or ankles, etc. In some embodiments, the movement can include walking, running, sitting, standing up, etc. As described above, such movement can occur at a particular speed, with a particular force, etc. The movement can occur with an unexpected speed and / or force and, therefore, may not follow the animation profile or movement thresholds of the animated figure 12, which can include expected speed and / or force thresholds associated with the animated figure 12 to operate the animated figure 12 as expected.

[0022] To monitor and / or verify compliance of the animated figure 12 with expected movements, the animated figure 12 can include an interaction system 50 (as shown in FIG. 3 ). The interaction system 50 can include one or more shells 18 disposed on the animated figure 12. Specifically, shells 18 can be disposed on the animated figure 12 in a manner that allows for monitoring and / or control of components of the animated figure 12 that can facilitate the movement of the animated figure 12, such as components disposed on or near the limbs 16. Generally, the shells 18 can detect pressure at specific locations on the shell 18. The level of accuracy of the location of the detected pressure is based on the technology in the shell 18. A single shell on the forearm, for example, can sense pressure anywhere on the shell 18 and pinpoint the location of pressure on the shell of the forearm. The shell 18 can also be positioned in a manner that allows it to sense pressure at any location on the animated figure 12, e.g., to cause the animated figure 12 to move in response to the sensed pressure, such that the shell 18 can facilitate ensuring that the animated figure 12 is moving in an expected manner and / or within predetermined control routines and movement thresholds, e.g., according to a protocol corresponding to the animation profile of the animated figure 12. Furthermore, the thresholds that conform to movement in an expected manner can be the same for a given movement or can differ based on the movement and the particular limb covered by the shell 18, the zone corresponding to one or more shells 18 (e.g., the entire leg), etc.

[0023] Thus, the shells 18 may be generally positioned on the animated figure 12 in a manner that facilitates monitoring pressure on the animated figure 12 (e.g., pressure due to encounter with a guest or a physical obstacle) and monitoring the response of the animated figure 12 to the pressure (e.g., movement of the animated figure 12 in response to the pressure), thereby verifying adherence to expected movement of the animated figure 12. In some embodiments, and as shown in FIG. 1 , the animated figure 12 includes a first shell 18A, a second shell 18B, a third shell 18C, a fourth shell 18D, a fifth shell 18E, and a sixth shell 18F, where the first shell 18A may completely encase the head of the frame of the animated figure 12, the second shell 18B may completely encase the chest of the frame of the animated figure 12, the third shell 18C may completely encase the upper arms of the frame of the animated figure 12, and the fourth shell 18D may completely encase the forearms of the frame of the animated figure 12. Similarly, fifth shell 18E may completely encase the belly of the frame of animated figure 12, and sixth shell 18F may completely encase the legs of the frame of animated figure 12. Determining compliance with expected movements of animated figure 12 is described in more detail below.

[0024] Additionally, the shell 18 can also provide structural support for the internal components used as the skeleton of the animation figure 12. Specifically, the animation figure 12 can be constructed around an internal support frame, or "skeleton," which can be made of steel, metal, plastic, and / or other suitable and / or similar materials. An elastic net can be attached for intermediate support around the internal support frame or "bones" and / or "muscles." This frame (e.g., the internal support frame and / or intermediate support) can provide support for, for example, electrical and mechanical components that facilitate movement and interaction between the animation figure 12 and the guest 14.

[0025] The animated figure 12 may also include motors and actuators that aid in the movement of the animated figure 12 and interaction between the animated figure 12 and the guest 14 or physical obstacles. In some embodiments, material may be attached or positioned on the frame to form a "skin," which is often made from foam, rubber, silicone, urethane, or other flexible or semi-flexible material. The frame and / or skin of the animated figure 12 may be completely encased in a shell 18. The shell 18 may be made of a hard plastic material and / or a soft plastic or similar material, as well as a skin-like material. As discussed in detail with respect to FIG. 2A , the material may be conductive or non-conductive to facilitate determining when pressure (e.g., force) is being applied to the animated figure 12 (e.g., contact).

[0026] For purposes of illustration, Figure 2A depicts one or more shells 18 on the animated figure 12 of Figure 1. While the following discussion describes a single shell 18 on the animated figure 12, the systems and methods described herein can be applied to one or more shells 18 as well as to shell-less portions of the animated figure 12. For example, the skin (under the shell 18) of the animated figure 12 can additionally or alternatively include similar or corresponding sensing technology (e.g., layers of conductive and / or non-conductive material).

[0027] The structure of the shell 18 can include two or more shell layers 20. In one embodiment, as shown in FIG. 2A , the shell layer 20 includes a first layer 20A, a second layer 20B, and a third layer 20C. Generally, the first layer 20A and the third layer 20C can include a conductive material, while the second layer 20B can include a non-conductive and / or dielectric material. In some embodiments, the shell layer 20 can be 3D printed to incorporate the conductive or dielectric material into the shell 18. In another embodiment, the conductive or dielectric material on the shell layer 20 can be bonded to the shell 18. In some embodiments, the shell layer 20 can also include a shell sensor 70. In the illustrated embodiment of FIG. 2A , the shell sensor 70 can be positioned on the second layer 20B, but it should be understood that the shell sensor 70 can be located on the first layer 20A and / or the third layer 20C, or elsewhere on the shell 18. Additionally, the shell layer 20 may also include an optical sensor for detecting the shape of the guest or obstacle.

[0028] Shell sensors 70 on shell layer 20, alone or in combination with optical sensors, enable shell 18 to detect and / or measure pressure, displacement, fluid level, acceleration, force, the location of a force on shell 18, the proximity of shell 18 with respect to a force source, etc. For purposes of this disclosure, the term "pressure sensing technology" includes technology that senses pressure, acceleration, displacement, force, the location of a force on shell 18, the proximity of shell 18 with respect to a force source, etc. Pressure sensing technology includes, but is not limited to, capacitive sensing technology. That is, shell layer 20 can utilize capacitive sensing technology. While resistive touch technology is used to detect force via a resistive touch sensor imparted by an object that is not a capacitor (e.g., a wall or strong wind), capacitive sensing technology is used when the object creating the force acts as a capacitor, such as a human touch. More specifically, capacitive sensing technology is a technology based on electrostatic coupling that can detect and measure anything that is conductive or has a different dielectric than air. Specifically, capacitive sensing technology based on electrostatic coupling can be facilitated by the use of sensors and alternating or repeating layers of both conductive and non-conductive materials. Specifically, when a force is applied to the capacitive sensing technology of the shell layer 20 (e.g., human touch), the shell sensor 70 can detect and measure any force or movement that becomes conductive or has a different capacitance from a reference value as the force increases, as described in more detail below. For example, a standard stylus cannot be used for capacitive sensing, but specialized capacitive styluses exist for this purpose. One way to create a capacitive stylus is to wrap a conductive material, such as an anti-static conductive film, around a standard stylus or roll the film into a cylinder. Some capacitive sensing materials cannot be used while wearing gloves, and even small amounts of water between the contact source and the capacitive sensing material may cause inaccurate sensing.

[0029] Generally, capacitive sensing technology can include at least one capacitive touch sensor along with at least two complementary metal-oxide-semiconductor integrated circuit chips, an application-specific integrated circuit controller, a digital signal processor, or any combination thereof. Capacitive touch sensors can be constructed from many different media, such as copper, indium-tin oxide, printing ink, or other suitable media.

[0030] There are two types of capacitive sensing technologies: surface capacitance and projected capacitance. In both surface capacitance and projected capacitance systems, the system utilizes two or more layers. For example, in one embodiment, as shown in FIG. 2A , the shell 18 has three layers: a first conductive layer 20A, a non-conductive or dielectric second layer 20B, and a third conductive layer 20C. In the surface capacitance approach, a small voltage can be applied to the conductive layers 20A and 20C, resulting in a uniform electrostatic field F1 with a voltage V. When a conductor (e.g., a human touch, a wall, or another component of the animated figure 12) contacts layer 20A at touch point P1, a capacitor is dynamically formed, causing a small current to flow from touch point P1 and a voltage V to drop. The voltage drop is sensed by the four corners of layer 20A, allowing the sensor 70 to indirectly pinpoint the exact location of touch point P1 from the change in capacitance.

[0031] In another embodiment, the shell sensor 70 may utilize a projected capacitive system, as shown in FIG. 2B. Similar to surface capacitive systems, projected capacitive systems utilize layers of material 20A and 20B, as shown in FIG. 2B. However, in a projected capacitive system, one of the layers of material, e.g., 20B, may include electrodes in an XY grid. Specifically, the XY grid is etched into layer 20B either by etching one layer to form a grid pattern of electrodes or by etching vertical lines or tracks into two separate, parallel layers of conductive material to form the grid. Like surface capacitive systems, projected capacitive systems involve a uniform electrostatic field that, when touched, produces a low voltage. Specifically, when a conductor (e.g., a human touch) or conductive material contacts the exterior surface of surface 20A, there is a change in the localized electric field that changes the capacitance at specific locations on the grid. In projected capacitive systems, the shell sensor 70 may utilize one of two types of projected capacitive systems: mutual capacitance technology or absolute capacitance technology. In either system, the location of the force is determined based on the location of the change in capacitance.

[0032] While both surface capacitive and projected capacitive systems can detect granular information such as touch at each location, projected capacitive systems respond faster to touch commands than surface capacitive systems and support multiple touch commands.

[0033] As discussed above, capacitive sensing technology is one type of pressure sensing technology. Capacitive sensing technology is used when the object creating the pressure acts as a capacitor, such as a human touch. Other types of pressure sensing technology, such as resistive touch technology, can be used to detect pressure applied by objects that are not capacitors, such as a wall or strong wind. Resistive touchscreens respond to any object that applies pressure and therefore do not require a capacitive pointer (e.g., a human touch). Other types of pressure sensing technology include force-sensing membranes, which can include elastomers with conductive particles positioned between two contacts. The overall structure of shell 18 remains the same regardless of the specific type of pressure sensing technology used. One or more types of pressure sensing technologies described herein can be used simultaneously in combination to enable overlapping responses to various types of touch or force.

[0034] In particular, the shell layers 20 can be associated with a baseline capacitance when no force is applied to the shells 18. The baseline capacitance can be associated with shells 18, the shell layers 20 that make up each shell 18, groups of multiple shells 18, zones including multiple shells 18 corresponding to regions of the animated figure 12, and / or body portions of the animated figure 12. That is, the shell layers 20 can be associated with a baseline capacitance that includes the capacitance when no force is applied to the various shells 18 of the animated figure 12, or approximately when no force is applied.

[0035] The shell layer 20 containing the pressure-sensing technology can be embedded or otherwise integrated into the shell 18 and / or structural components of the animated figure 12, such as the skin. In additional or alternative embodiments, the pressure-sensing technology can be embedded in or glued to the shell 18. By way of example, the pressure-sensing technology can be disposed within an adhesive material (neoprene, other synthetic rubber, etc.). The adhesive material can include conductive portions and be attached to the shell 18 to provide a capacitive sensing effect, as discussed above. Thus, the animated figure 12 can include 3D-printed material along with neoprene having conductive portions. As discussed above, the embedded and / or glued pressure-sensing technology can facilitate monitoring the compliance of the animated figure 12 with expected movements via the material embedded and glued to the shell 18, as well as controlling the animated figure 12 to ensure conformance to expected movements.

[0036] The shell layer 20 is also associated with a capacitance threshold that allows deviation from the baseline capacitance. In some examples, the threshold can vary; for example, based on the zone, the expected pressure can be different (e.g., due to environmental factors or common interactions between the animated figure 12 and the guest 14). Thus, the shell layer 20 can facilitate determining whether the animated figure 12 is in a compliant state (i.e., performing as expected) using pressure-sensing technology to sense at least the applied pressure, acceleration, displacement, force, location of the force on the shell 18, or proximity of the shell 18 with respect to a force source associated with the movement of the animated figure 12. In this manner, the animated figure 12 can be controlled to pause, stop, back up, accelerate (e.g., change speed and / or direction), etc., when the capacitance exceeds the threshold, indicating when the animated figure 12 is not performing as expected.

[0037] As described, FIG. 3 is a block diagram of an interaction system 50 for monitoring and actuating an animated figure 12 to interact with an object and conform to and respond to expected movements. As shown in FIG. 3 , the interaction system 50 includes an automation controller 60 (e.g., a programmable controller, an electronic controller, a control circuit, a cloud computing system) and an animated figure 12. As discussed above, the animated figure 12 can include one or more shells 18, including a shell layer 20 containing shell sensors 70 used to sense pressure, contact, force, etc., and, in some embodiments, optical sensors used to detect shape and / or movement. The animated figure 12 can also include a figure communication circuit 69, a figure processor 62, actuators 72, and components 74. The automation controller 60 can include an automation controller communication circuit 68 and an automation controller memory 66. The automation controller 60 can monitor the animated figure 12 based on input data from the shell sensors 70. The automation controller 60 can also control the animated figure 12 to ensure compliance of the animated figure's 12's movements, for example, based on certain thresholds associated with the shell 18. Based on input data received at the shell 18, the automation controller 60 can instruct the actuators 72 and / or other components 74 to adjust to issue compliance commands to cause the animated figure 12 to become compliant and perform as expected, for example, according to a protocol corresponding to the animation profile.

[0038] In particular, the automation controller 60 can include an automation controller processor 64, an automation controller memory 66, and an automation controller communication circuit 68. In some embodiments, the shell layer 20 can also include optical sensors for additional capabilities for detecting shape and / or movement. The animation figure 12 can also include a figure communication circuit 69, which can be embedded in or adhered to the shell layer 20. The animation figure 12 can also include a figure memory 71, in which instructions can be stored. Alternatively, in other embodiments, the animation figure 12 can not include a figure memory 71.

[0039] Referring to FIG. 3 , the actuator 72 can generally include a force generator for moving the animation figure 12 itself. Specifically, the actuator 72 can include a device that converts energy (e.g., electrical, pneumatic, or hydraulic) into mechanical or physical motion, and many actuators generate rotary or linear motion. Linear actuators can be defined by force, while rotary actuators can be defined by torque. That is, the actuator 72 enables movement of the animation figure 12. Additionally, the actuator 72 can operate in conjunction with a component 74, which can include the device or material of the animation figure 12. That is, the actuator 72 can operate with the component 74 to move the animation figure 12.

[0040] The shell layer 20 can provide input data from the shell 18 (e.g., including embedded or attached sensors) to the automation controller 60, such as through an automation controller communication circuit 68 that enables communication between the automation controller 60 and the animated figure 12. The input data can include data indicative of pressure, acceleration, displacement, force, the location of the force on the shell 18, and the proximity of the shell 18 with respect to the force source. In one embodiment, based on the input data, the automation controller 60 can determine whether the movement of the animated figure 12 is within a threshold corresponding to the shell 18. In one embodiment, the movement of the animated figure 12 can be in response to encountering an object. The automation controller 60 can, for example, determine that the movement of the animated figure 12 is outside a movement threshold based on the animation profile, meaning that the animated figure 12 may not currently be in compliance. Accordingly, the automation controller 60 can determine a modification of the animated figure 12 based on the non-compliance by selecting a modification from a list of available modifications. Such modifications can include dynamically adjusting actuators 72 and / or components 74 based on the input data to move the animated figure 12, turning off power to the animated figure 12, etc. The determination of the modification by the automation controller 60 may depend on the amount of force sensed or other environmental factors. The automation controller 60 can provide the selected modification to the animated figure 12 via compliance commands sent by the automation controller communication circuitry 68.

[0041] Specifically, the shell layer 20, which includes pressure-sensing technology, can provide input data to the figure communication circuitry 69 via the shell sensor 70. The figure communication circuitry 69 communicates the input data to the automation controller communication circuitry 68 via a wired or wireless communication path (e.g., infrared wireless communication, radio frequency transmission, Bluetooth®, Wi-Fi, near field communication (NFC), ultra-wideband (UMB)). The automation controller communication circuitry 68 receives the input data from the figure communication circuitry 69 and provides the input data to the automation controller processor 64. The automation controller processor 64 then processes the input data received from the figure communication circuitry 69 and determines whether the input data exceeds a movement threshold, a force threshold, or both, based on threshold data stored in the automation controller memory 66. When the automation controller processor 64 determines that the movement threshold, the force threshold, or both have been exceeded, the automation controller processor 64 can select one of a variety of modifications and communicate the selected modification to the figure communication circuitry 69 using the automation controller communication circuitry 68. The figure communication circuitry 69 sends the correction to the figure processor 62 which instructs the animated figure 12 to perform the correction, which can help bring the animated figure 12's movement back into compliance (e.g., take a step back, take a step forward, lower the animated figure's arm, power down completely, etc.).

[0042] For example, when guest 14 interacts with animated figure 12, the guest's hand touches fourth shell 18D, which completely encases the forearm of the frame of animated figure 12. Shell layer 20 of fourth shell 18D senses pressure using pressure-sensing technology and provides first input data to automation controller 60, such as via figure communication circuitry 69, which communicates with automation controller communication circuitry 68. Figure communication circuitry 69 and automation controller communication circuitry 68 enable communication between automation controller 60 and animation figure 12. Based on the first input data as well as the first criteria, such as based on the capacitance of the criteria discussed above, automation controller 60 can determine that pressure has been sensed and can determine a response to the sensed pressure. Automation controller 60 can then provide instructions to animation figure 12 regarding the response, such as instructions for animation figure 12 to dynamically adjust actuators 72 and / or components 74 in response to the guest's touch with a wave of the hand. The movement associated with the response can be detected by pressure-sensing technology within the shell 18, and the automation controller 60 can determine whether the response of the animated figure 12 is within a threshold value corresponding to the shell 18. In this example, the automation controller 60 receives second input data from the shell 18 and determines, based on the second input data, that the animated figure 12 may not currently be in a compliant state because the pressure sensed as a result of the waving response exceeds a movement threshold value associated with the animation profile of the animated figure 12. Thus, the automation controller 60 can determine to modify the animated figure 12 based on the non-compliance by selecting a modification from a list of modifications. Such modifications can include dynamically adjusting actuators 72 and / or components 74 based on the input data, such that the movement of the animated figure 12 is modified by waving more slowly, for example.The automated controller 60's determination of the correction may depend on the amount of force sensed or other factors such as where on the animated figure 12 the guest made contact, the immediate environment of the animated figure 12 (e.g., outdoors, in an enclosed space, in a dark ride facility), whether the force was capacitive or resistive, etc. The automated controller 60 may provide compliance commands to the animated figure 12 via the automated controller communication circuitry 68, which here includes a selected correction to slow down the hand wave rate.

[0043] In another example, while interacting with the animated figure 12, the guest 14 raises his / her hand to give the animated figure 12 a one-hand high-five. In embodiments in which the shell layer 20 includes an optical sensor, the shell layer 20 can sense the guest's appearance of raising his / her hand and, in response to the detected appearance, can provide first input data to the automation controller 60 via the automation controller communication circuitry 68, which enables communication between the automation controller 60 and the animated figure 12. Based on the first input data, the automation controller 60 can determine that a gesture to initiate a one-hand high-five has been detected and can determine a response to the detected gesture. The automation controller 60 can then provide instructions to the animated figure 12 regarding the response, for example, instructions to dynamically adjust the actuators 72 and / or components 74 to return a one-hand high-five of the animated figure 12's hand in response to the guest's gesture. The movement associated with the response can be detected by pressure-sensing technology within the shell 18, and the automation controller 60 can determine whether the response of the animated figure 12 is within a threshold value corresponding to the shell 18. In this example, the automation controller 60 receives second input data from the shell 18, and the pressure sensed as a result of the one-handed high-five response indicates, for example, that the animated figure 12 made no contact but contacted something before expected, or that the animated figure 12 made contact when expected but with an unexpected source or unexpected pressure, and the automation controller 60 determines based on this second input data that the animated figure 12 may not currently be in a compliant state (e.g., sensed contact with an inanimate object instead of the guest's hand, sensed contact with a capacitance-based input source at an unexpected contact point, or sensed contact indicating a one-handed high-five but with too high or too low a detected force). In that case, the second input data indicates that the responsive contact, or lack thereof, did not match the expected movement threshold associated with the animation profile of the animated figure 12.Thus, the automation controller 60 can determine a modification of the animated figure 12 based on non-compliance by selecting a modification from a list of modifications. Such modifications can include those described above and / or can include backing away from the guest, lowering the arms of the animated figure 12, or ceasing movement entirely. The determination of a modification by the automation controller 60 can depend on the amount of sensed force or other environmental factors. As described above, the automation controller 60 can provide compliance instructions that include the selected modification. In this manner, the movement of the animated figure 12 in response to an encounter is monitored to ensure that the response of the animated figure 12 conforms to the expected movement of the animated figure 12, i.e., that the animated figure 12 remains within a predetermined movement threshold, such as an animation profile.

[0044] In one embodiment, the movement of the animated figure 12 that is not in response to encountering a guest or a physical obstacle can be monitored to ensure that the movement of the animated figure 12 conforms to the expected movement of the animated figure 12. The automated controller 60 can be configured to monitor and control the animated figure 12 based on movement thresholds associated with one or more shells 18 on the animated figure 12.

[0045] The automation controller communication circuitry 68 and the figure communication circuitry 69 may include transceivers, antennas, transmitters, receivers, wireless transceiver circuitry, signal processing hardware and / or software (e.g., hardware or software filters, analog-to-digital converters, multiplexer amplifiers), or combinations thereof, which may be powered and configured to communicate via wired (e.g., fiber optics, metal wire, etc.) or wireless communication paths (e.g., infrared radio, radio frequency transmission, Bluetooth®, Wi-Fi, near field communication (NFC), ultra-wideband (UWB), etc.), or a combination of wired and wireless.

[0046] In some embodiments, the automation controller communication circuitry 68 and the figure communication circuitry 69 can form a communication connection with the shell sensor 70 using a wireless network, e.g., a wireless communication path via IR radio, radio frequency transmission, Bluetooth, Wi-Fi, Ultra Wide Band (UWB), etc. That is, the shell 18 can include a device including the shell sensor 70 that enables communication between the automation controller 60 and the animated figure 12. For example, the automation controller 60 and the animated figure 12 can include the automation controller communication circuitry 68 and the figure communication circuitry 69, such as a transmitter and receiver.

[0047] As provided herein, the automation controller communication circuitry 68 can communicate with the animation figure 12 by transmitting signals that are received by the figure communication circuitry 69. A shell sensor 70 embedded in or attached to the shell 18 can sense a force and communicate it to the figure communication circuitry 69. The figure communication circuitry 69 can then communicate proximity information back to the automation controller 60 via the automation controller communication circuitry 68. The proximity information can include information regarding the distance from the force and the direction of the force in relation to the position of the shell 18. The automation controller processor 64 can then receive the proximity information and execute a response based on the received proximity information, including updating the position of the animation figure 12 or effecting a modification to the animation figure 12. Updating the position of the animation figure 12 or effecting a modification to the animation figure 12 can be accomplished through the transmission of commands via the automation controller communication circuitry 68 and the figure communication circuitry 69, which are then processed by the figure processor 62 and executed by the actuator 72, as described above.

[0048] In general, the automation controller 60 may enable the automation controller communications circuitry 68 to interface with various other electronic devices, such as an amusement park's external monitoring system, service desk, etc. The monitoring system and / or service desk may communicate with the automation controller 60 to receive and / or transmit information to ensure that the interactive system 50, the animated figure 12, and / or features of the animated figure 12 are in compliance.

[0049] By way of example, the automation controller communication circuitry 68 may enable the automation controller 60 to be communicatively coupled to a network, such as a personal area network (PAN), a local area network (LAN), and / or a wide area network (WAN). Thus, in some embodiments, the automation controller 60 may process data from the shell 18, determine compliance for the animated figure 12, and communicate adjustments to the actuators 72 and / or components 74. For example, after processing sensor data from the shell 18, the automation controller processor 64 may determine control signals that enable the automation controller communication circuitry 68 to wirelessly transmit control data to the animated figure 12 to modify the animated figure 12 and / or verify that the animated figure 12 is functioning to operate within thresholds.

[0050] The automation controller processor 64 can include one or more processing devices that receive input signals from the shell 18 related to the compliance of the animated figure 12 via the shell sensors 70 and / or figure communication circuitry 69, which can then be used to determine possible adjustments to the actuators 72 and / or components 74 using the techniques described herein. The automation controller memory 66 can include one or more tangible, non-transitory machine-readable media. By way of example, such machine-readable media can include RAM, ROM, EPROM, EEPROM, optical disk storage, magnetic disks, other magnetic storage devices, or any other medium that can be used to execute or store desired algorithms (e.g., program code) in the form of machine-executable instructions or data structures accessible by the automation controller processor 64 or other processor-based devices. In particular, the automation controller processor 64 can include a processing core for executing the machine-executable instruction algorithms stored in the automation controller memory 66. The automation controller processor 64 may also include a processor-side interface for software applications executing on the processing core to interact with the animation figure 12. By way of example, and without limitation, the stored algorithms may include an algorithm for processing feedback from the shell sensor 70. The algorithm may also cause the automation controller processor 64 to process the feedback, compare it to a reference capacitance, and issue compliance commands from the automation controller memory 66 to the animation figure 12 to operate the animation figure 12 appropriately.

[0051] The compliance instructions are stored in the automation controller memory 66 and include instructions for the animated figure 12 to modify the animated figure 12 if the animated figure 12 is determined to be out of compliance. The compliance instructions may include modifications for the animated figure 12, such as instructions to move the animated figure 12 away from a sensed force / pressure by moving in the opposite direction of the sensed force / pressure, or may be related to a response to detecting a capacitive touch from the guest 14, such as a one-handed high five in response to detecting a capacitive touch sensed on the arm of the animated figure 12 or a hug in response to detecting a capacitive touch sensed on the torso of the animated figure 12, as discussed above.

[0052] FIG. 4 illustrates another embodiment of an interactive system 50. In the embodiment illustrated in FIG. 4, an automation controller 60 is coupled to the shell 18 or animation figure 12. In one embodiment, the animation figure 12 can receive input data from a figure communication circuit 69, such as from a shell sensor 70 in the shell layer 20. In such an embodiment, the input data goes from the shell sensor 70 to the figure processor 62. The data then goes to the figure communication circuit 69 and is transmitted to the automation controller communication circuit 68, as described above with respect to FIG. 3. In one embodiment, the automation controller 60 can comprise the figure processor 62. In one embodiment, the figure processor 62 can comprise the automation controller 60. Furthermore, it should be understood that the illustrated system is intended to be merely exemplary, and that certain features and components can be omitted and various other features and components can be added to facilitate implementation of the disclosed embodiments.

[0053] 5 is a flow diagram of a process 100 of compliance system 55, which is one component of interaction system 50. Although process 100 describes data flows and conditions in a particular order that represents a particular embodiment, the data and conditions can occur in any order.

[0054] The process 100 includes monitoring a system including an animated figure for pressure (block 102). The pressure (e.g., force) is sensed within the shell 18 of the animated figure 12 via pressure sensing technology (block 104), which can be capacitive or other pressure sensing technology. If pressure is sensed, the figure processor 62 determines whether the pressure exceeds a threshold (block 106). Determining whether the pressure exceeds a threshold depends on input data from the shell 18 and shell sensor 70, which is communicated to the automation controller 60 via the figure communication circuitry 69 and may include proximity information indicating the location of the pressure (e.g., zone), as described above. The automation controller 60 receives input data from the animated figure 12 via the figure communication circuitry 69, which communicates with the automation controller communication circuitry 68. The input data is processed via the automation controller processor 64. The automation controller processor can determine whether the force or movement exceeds a threshold based on threshold data stored in the automation controller memory 66. Pressure can result, for example, from a response performed by an animated figure in response to encountering a guest or a physical obstacle.

[0055] When the figure processor 62 determines that the threshold has been exceeded, compliance commands (e.g., actuation commands for the animated figure's movement (e.g., pause, stop, grab, one-handed high-five, etc.)) are determined to modify the animated figure based on the type, location, and amount of pressure (block 108). The compliance commands are then communicated to and executed on the animated figure (block 110). The automation controller 60 communicates the compliance commands to the figure communication circuitry 69, which are processed by the figure processor 62 and executed by the actuators 72 on the animated figure 12.

[0056] Regarding block 104, if no pressure (e.g., force) is sensed, processing returns to block 102 to continue monitoring the pressure. Regarding block 106, if the sensed pressure does not exceed the threshold, processing returns to block 102 to continue monitoring the pressure.

[0057] While only certain features of the present disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the present disclosure. It is to be understood that any of the features illustrated and described in connection with the figures discussed above can be combined in any suitable manner.

[0058] The technology presented and claimed herein refers to and applies tangible objects and examples of a practical nature that clearly advance the state of the art, and is not abstract, intangible, or purely theoretical. Furthermore, when any claim appended to the end of this specification contains one or more elements designated as "means for (performing) (a function)" or "step for (performing) (a function)," such elements are intended to be construed under 35 U.S.C. 112(f). However, with respect to any claim containing elements designated in any other manner, such elements are not intended to be construed under 35 U.S.C. 112(f).

Claims

1. An animated figure, one or more shell layers including one or more shell sensors configured to sense an applied pressure; and an animated figure comprising: one or more actuators configured to move one or more features of the animated figure; 1. A compliance system comprising an automated control device, receiving first input data from the one or more shell sensors; initiating a control routine to command operation of the one or more actuators in response to the first input data meeting a first criterion; receiving second input data from the one or more shell sensors after initiation of the control routine; and a compliance system configured to adjust the control routine in response to the second input data being out of compliance with the control routine; An interaction system comprising:

2. 2. The interaction system of claim 1, wherein the one or more shell layers including the one or more shell sensors are modular and configured to couple with at least one of the one or more features of the animated figure.

3. The interaction system of claim 1 , wherein the one or more shell sensors comprise one or more capacitive touch sensors, one or more resistive touch sensors, or a combination thereof.

4. The interaction system of claim 3 , wherein the one or more capacitive touch sensors comprise mutual capacitance technology, absolute capacitance technology, or a combination thereof.

5. The interaction system of claim 1 , wherein the one or more shell sensors are positioned on at least one of the one or more features of the animated figure.

6. 2. The interaction system of claim 1, wherein the one or more shell layers comprising the one or more shell sensors are positioned on the animation figure such that the shell layers provide structural support over a skeleton of the animation figure.

7. The interaction system of claim 1 , wherein the animated figure comprises the compliance system.

8. 1. A method for monitoring compliance of an animated figure, comprising: sensing a force on the animated figure based on input data received from one or more shell sensors located on one or more features of the animated figure; determining, via an automated controller, whether the animated figure exceeds a movement threshold associated with the animated figure based at least in part on the input data from the one or more shell sensors; If the animation figure determines that the movement threshold has been exceeded, transmitting a compliance command from the automation controller to one or more actuators for the animation figure to comply with the movement threshold; A method comprising:

9. determining whether the animated figure has exceeded the movement threshold based on additional input data from the one or more shell sensors; if it is determined that the animated figure does not exceed the movement threshold, monitoring the one or more shell sensors to confirm that the additional input data from the one or more shells indicates compliance with the movement threshold; The method of claim 8, comprising:

10. The method of claim 8 , comprising sensing the force via the one or more shell sensors based on capacitive sensing.

11. identifying a first force on the animation figure with the automated controller based on first input data received from a first shell sensor disposed on the animation figure; determining a response to the first force using the automated controller, the response being determined based on a location associated with the first force; determining whether the response includes movement of the animated figure, the movement exceeding the movement threshold associated with the animated figure based on additional input data received from the first shell sensor disposed on the animated figure and / or at least one other shell sensor of the one or more shell sensors; 10. The method of claim 9, comprising:

12. 12. The method of claim 11, wherein the response includes an instruction to cause the animated figure to stop, pause, accelerate, give a one-handed high-five to the guest, hug the guest, move in a direction different from the direction of the force, or any combination thereof.

13. The method of claim 8 , comprising providing structural support on the skeleton of the animated figure via the one or more shell sensors.

14. the one or more shells disposed on an animated figure, the one or more shells including the one or more shell sensors; one or more actuators; an automated controller configured to monitor and control the animated figure via the one or more actuators based on input data received from the one or more shells; A compliance system that includes:

15. 15. The compliance system of claim 14, wherein the one or more shell sensors detect forces applied to the animated figure via pressure sensing technology embedded in or adhered to the one or more shells.

16. 16. The compliance system of claim 15, wherein the pressure sensing technology includes a capacitive sensing material capable of sensing capacitive touch.

17. 17. The compliance system of claim 16, wherein the capacitive sensing material is configured to sense capacitive touch via a projected capacitive system, a surface capacitive system, or a combination thereof.

18. 16. The compliance system of claim 15, wherein the automation controller is configured to select a correction from a list of corrections stored in an automation controller memory and communicate the selected correction to the animated figure via a communication circuit.

19. 20. The system of claim 18, wherein the automated controller determines the correction based on a zone of the one or more shells where the force is sensed.

20. 20. The compliance system of claim 18, wherein the modification comprises pausing, stopping, backing up, accelerating, or any combination thereof.

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