Autonomous Scanning and Mapping Systems

Abstract

The amusement attraction mapping system (51) includes a sensing system (54) configured to be disposed within an environment (52) of an amusement attraction (50), a positioning system (56) coupled to the sensing system (54), and a controller (74) communicatively coupled to the sensing system (54) and the positioning system (56). The sensing system (54) is configured to capture scanning data of the environment (52), the scanning data including virtual points representing objects (100, 102, 104) within the environment (52). The positioning system (56) is configured to move the sensing system (54) within the environment (52). Furthermore, the control device (74) is configured to determine target scanning data captured by the detection system (54), output a first control signal to instruct the positioning system (56) to move the detection system (54) to a target position based on the target scanning data, and output a second control signal to instruct the detection system (54) to capture scanning data at the target position.

Description

[Technical field]

[0001] (Related Applications) This application claims priority to and the benefit of U.S. Provisional Application No. 62 / 940,727, entitled "AUTONOMOUS SCANNING AND MAPPING SYSTEM," filed November 26, 2019, the entire disclosure of which is incorporated herein by reference for all purposes. (Technical field) The present invention relates to an autonomous scanning and mapping system. [Background technology]

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

[0003] Amusement or theme parks typically include a variety of entertainment systems or attractions, each of which provides a unique experience to park guests. For example, an amusement park may include a variety of attraction systems, such as roller coasters, drop towers, log flumes, and the like. Some attraction systems may include environments that may have several different features, such as animated characters and special effects, that help immerse guests in the experience of the attraction system. However, the placement and configuration of the features may be difficult. For example, it may be difficult to determine whether a feature is located in a desired location in the environment (e.g., relative to the path of travel of the ride vehicle) to provide a desired effect or experience to the guest. Furthermore, attraction systems are becoming increasingly complex, making coordination between the various features of the attraction system more important. Summary of the Invention [Problem to be solved by the invention]

[0004] Therefore, improved techniques for assessing or evaluating attraction systems to determine whether the characteristics of the attraction system have been desirably improved are desirable. [Means for solving the problem]

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

[0006] In one embodiment, an amusement park attraction mapping system includes a detection system configured to be disposed within an environment of an amusement park attraction, a positioning system coupled to the detection system, and a controller communicatively coupled to the detection system and the positioning system. The detection system is configured to capture scanning data of the environment, the scanning data including virtual points indicative of objects within the environment. The positioning system is configured to move the detection system within the environment. The controller is further configured to determine target scanning data captured by the detection system, output a first control signal to the positioning system to instruct the detection system to move to a target location based on the target scanning data, and output a second control signal to instruct the detection system to capture scanning data at the target location.

[0007] In one embodiment, a controller for an amusement park scanning and mapping system comprises a tangible, non-transitory, computer readable medium having computer executable instructions stored thereon, the computer executable instructions, when executed, configured to cause one or more processors to determine target scanning data of an amusement park environment to be captured, the target scanning data including a target set of virtual points, the instructions, when executed, further configured to cause the one or more processors to output a first control signal to an amusement park ride vehicle to move the detection system to a target location within the amusement park based on the target scanning data, output a second control signal to a positioning system coupled to the ride vehicle to move the detection system to a target position relative to the ride vehicle based on the target scanning data, and output a third control signal to the detection system to capture scanning data at the target location and the target location.

[0008] In one embodiment, the amusement attraction system includes a ride vehicle, a detection system configured to capture scanning data of an environment of the amusement attraction, a positioning system coupling the detection system to the ride vehicle, and a controller communicatively coupled to the ride vehicle, the detection system, and the positioning system. The scanning data includes data points indicative of physical objects in the environment, and the positioning system is configured to move the detection system relative to the ride vehicle. The controller is further configured to: determine a set of target scanning data to be captured by the detection system; direct the ride vehicle and the positioning system to move the detection system to a plurality of locations in the environment, each of the locations being associated with a set of target scanning data of the sets of target scanning data; direct the detection system to capture a set of scanning data, each set of scanning data of the sets of scanning data being associated with a respective location of the plurality of locations; and combine the sets of scanning data together to create a data point cloud of the environment.

[0009] These and other features, aspects, and advantages of the present disclosure will become 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 description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of an embodiment of an amusement park attraction having an environment and a mapping system configured to map the environment, in accordance with aspects of the present disclosure. [Diagram 2] FIG. 1 illustrates a perspective view of one embodiment of an environment of an amusement park attraction and a mapping system coupled to a ride vehicle in accordance with aspects of the present disclosure. [Diagram 3] 1 is a schematic diagram of one embodiment of an environment of an amusement park attraction having a first area and a second area, in accordance with aspects of the present disclosure. [Figure 4] 1 is a flowchart of an embodiment of a method for creating an environmental map of an amusement park attraction in accordance with an aspect of the present disclosure. [Diagram 5] 1 is a flow chart of one embodiment of a method for analyzing an environmental map to assess various environmental characteristics in accordance with aspects of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] One or more specific embodiments are described below. In order to provide a concise description of these embodiments, not all features of an actual implementation are described herein. As with any industrial design or design project, it will be appreciated that in the development of any such actual implementation, numerous implementation-specific decisions must be made to achieve the specific goals of the developers, including compliance with system-related and business-related constraints that may vary between implementations. It will be further appreciated that such development efforts may be complex and time-consuming, but will nevertheless be a routine task of design, fabrication, and manufacture for those skilled in the art having the benefit of this disclosure.

[0012] When describing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. One or more specific embodiments are described below. In order to provide a concise description of these embodiments, not all features of an actual implementation may be described herein. It should be noted that, as with any industrial design or engineering project, the development of any such actual implementation will require numerous implementation-specific decisions to be made in order to achieve the specific goals of the developers, including compliance with system-related and business-related constraints that may vary between implementations. It should further be noted that such development efforts may be complex and time-consuming, but will nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill in the art having the benefit of this disclosure.

[0013] Embodiments of the present disclosure relate to systems and methods for mapping the environment of an amusement park attraction. For example, the attraction may include any of a variety of entertainment rides, such as roller coasters, dark rides, water rides, augmented reality rides or experiences, etc. The attraction may have a variety of physical features, such as design props, props, scenery, rides, ride tracks, etc., each of which entertains and provides a unique experience (e.g., an immersive environment) to the attraction's guests. Such features may be located at target locations or predetermined locations within the attraction's environment. In some embodiments, the features may be in specific locations so that they can be viewed by guests from a particular vantage point. In additional or alternative embodiments, the features may be located in specific locations to allow the features to interact with each other as intended. For example, a projector may be positioned relative to a display screen to project an image onto the display screen.

[0014] It may be advantageous to map the environment of the attraction to identify the location of features to ensure that the features are properly located. As discussed herein, mapping the environment includes determining the appearance or location of physical objects in the environment. Thus, a user (e.g., an operator of the attraction) may evaluate the environment to determine whether physical features of the environment are located at target locations within the environment. However, mapping the environment may be difficult or cumbersome. For example, it may be difficult to use a scanning device to capture sufficient scanning data to map relevant areas of the environment. For example, capturing scanning data may include placing the scanning device at various locations and / or positions within the environment. In some cases, the placement of the scanning device may not allow the scanning device to capture scanning data of usable quality (e.g., data above a threshold resolution, data at a threshold zoom, or data at a threshold focus). Thus, the scanning data may not be accurate or usable to accurately map the environment.

[0015] It is now recognized that a system configured to automatically scan and map the environment of an attraction system can more easily determine and ascertain the location or position of physical features of the attraction system. For example, the system can include a control device and a positioning system configured to position a scanning system (e.g., a sensing system) to collect scanning data of various areas within the attraction system to map the environment of the attraction system. As used herein, scanning data can include a three-dimensional (3D) image of the environment, and a scanning system includes a device configured to capture (e.g., remotely capture) the 3D image. For example, the scanning system can include a light detection and ranging (LIDAR) device, an infrared 3D scanner, a structured light scanner, a digital photogrammetry scanner, another suitable sensing system, or any combination thereof. The 3D image can include information regarding the geometry of physical objects in the environment, the location of physical objects in the environment, or any other suitable appearance or characteristic of physical objects in the environment. The controller can be configured to determine whether sufficient scanning data has been collected, and can be configured to continue to instruct the positioning system to position the scanning system to collect scanning data until sufficient scanning data has been collected. The controller can then generate a map of relevant regions of the environment based on the scanning data, and the environmental map can be used to determine and / or verify the location of physical features. In this manner, the system can enable faster and / or more accurate mapping of the environment.

[0016] Although this disclosure primarily describes capturing 3D images to scan an environment, in additional or alternative embodiments, other types of images can be used to scan the environment. For example, the scanning system can use two-dimensional (2D) images (e.g., captured by a camera). Furthermore, in addition to or instead of mapping the environment, the scanning system can be used to capture images of other features or objects, such as guests and / or components of the attraction system. In one embodiment, the positioning system can be an arm attached to the ride vehicle of the attraction, and the camera can be attached to the arm. During operation of the attraction system, the arm can position (e.g., pan, tilt, rotate) the camera to focus on an element, e.g., a particular guest located on the ride vehicle. The arm can also control the operation of the camera by adjusting the camera's zoom, filter, etc. In one example, the arm can move the camera to various angles relative to the guest, thereby capturing images with different perspectives of the guest. In another example, the ride vehicle can move during operation of the attraction system, and the arm can be further caused to move the camera relative to the ride vehicle. In response, the arm can reposition the camera accordingly to capture a desired image of the guest while the ride vehicle is moving.

[0017] Referring now to the drawings, FIG. 1 is a schematic diagram of an embodiment of an amusement park attraction system 50 having an environment 52 and a scanning and mapping system 51 configured to detect and map the environment 52. The environment 52 may generally include a portion of the attraction system 50 that a guest may pass through, observe, or otherwise experience while participating in the attraction system 50. For example, the environment 52 may include a ride vehicle path, an enclosure, a stage, a queue line, any other suitable type of stage equipment, or any combination thereof. The scanning and mapping system 51 includes a sensing system 54 (e.g., a remote sensing system, a scanning system) connected to a positioning system 56. In the illustrated embodiment, the attraction system 50 also includes a ride vehicle 58 to which the positioning system 56 is coupled. In some embodiments, the ride vehicle 58 may be configured to travel along a path 60 within the environment 52 of the attraction system 50. For example, the path 60 may be a set path, such as a track (e.g., for a roller coaster ride). In another example, the path 60 may be an open area where the ride vehicle 58 may move freely around (e.g., for a bumper car ride). In a further example, the path 60 may be a single location where the ride vehicle 58 may be substantially stationary (e.g., for a motion simulator ride). The positioning system 56 may be configured to move the detection system 54 to a predetermined location within the environment 52. Additionally, the ride vehicle 58 may be moved to various locations within the environment 52. As used herein, the "location of the detection system 54" refers to the placement of the detection system 54 (e.g., by the positioning system 56) relative to the ride vehicle 58. The location may be within a range of a target location of the detection system 54, e.g., within 1 millimeter (mm), within 5 mm, within 1 centimeter (cm), within 5 cm, within 10 cm, within another suitable range, etc., of the target location. Additionally, the "location of the detection system 54" refers to the placement of the ride vehicle 58, and thus the detection system 54 and the positioning system 56, along the path 60.Also, the location may be within 1 mm, within 5 mm, within 1 cm, within 5 cm, within 10 cm, other suitable ranges, etc. Thus, movement of both the positioning system 56 and the ride vehicle 58 may be used to move the detection system 54 to a particular location within the environment 52 such that the detection system 54 can scan a particular area of ​​the environment 52.

[0018] The environment 52 may include various types of environmental features 62, such as props 64 (e.g., decorations, graphics), show effects 66 (e.g., lighting, audio equipment), and / or display surfaces 68 (e.g., projector screens for projection mapping). During the scanning and mapping operations, the sensing system 54 may collect scanning data related to the environmental features 62 in the environment 52. The scanning data may indicate a physical appearance associated with each environmental feature 62. In one example, the physical appearance may include or indicate the outline or geometry of the environmental feature 62, such as whether the environmental feature 62 is shaped or formed as desired. In another example, the physical appearance may include or indicate the location of the environmental feature 62, such as whether the environmental feature 62 is visible to a guest. In a further example, the physical appearance may include or indicate the placement of the environmental feature 62 relative to other environmental features 62, determining whether the environmental features 62 interact with one another as desired or intended. In this manner, the scanning data can be analyzed to determine whether the physical appearance of the environmental feature 62 is desirable, appropriate, or expected.

[0019] In one embodiment, the sensing system 54 may include a transmitter 70 and a receiver 72 for collecting scanning data related to physical objects of the environment 52, including the environmental features 62, the vehicle vehicles 58, and any other physical components within the environment 52. In general, the transmitter 70 may output a transmitted signal (e.g., laser light) that may reflect off of the physical objects of the environment 52 as a reflected signal, and the receiver 72 may receive the reflected signal. Based on the reflected signal, the sensing system 54 may determine the appearance of the physical objects. For example, the receiver 72 may receive reflected signals having different characteristics at different times, etc., that correspond to the appearance of the physical objects. Thus, the sensing system 54 may use the detected parameters of each reflected signal to determine the appearance and / or characteristics of the physical objects in the environment, thereby facilitating the generation of a 3D image of the environment 52. The transmitter 70 can continuously output a transmitted signal (e.g., with pulsed laser light) and the receiver 72 can continuously receive a reflected signal, such that the detection system 54 can continuously generate 3D images of the environment 52, which are associated with particular areas within the environment 52.

[0020] In one embodiment, the sensing system 54 is communicatively coupled to a controller 74 of the attraction system 50. The controller 74 may include a memory 76 and a processor 78. The memory 76 may include a volatile memory, such as a random access memory (RAM), and / or a non-volatile memory, such as a read-only memory (ROM), an optical drive, a hard disk drive, a solid-state drive, or any other non-transitory computer-readable medium that contains instructions. The processor 78 may be configured to execute such instructions. For example, the processor 78 may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general-purpose processors, or any combination thereof. The sensing system 54 may be configured to send sensor feedback indicative of various sets of scanning data (e.g., 3D images) of the environment 52 to the controller 74, which may evaluate the sets of scanning data and combine the sets of scanning data together to generate a complete map of the environment 52.

[0021] To facilitate generating a complete map of the environment 52, the sensing system 54 may also include a location sensor 80 configured to provide sensor feedback to the controller 74 indicative of the location (e.g., coordinate position or location) of the sensing system 54 within the environment 52. The controller 74 may then use the sensor feedback provided by the location sensor 80 and the scanning data received from the sensing system 54 to compare sets of scanning data to one another and combine the sets of scanning data. As an example, the controller 74 may identify common physical objects shared by particular sets of scanning data, determine the location of the shared physical objects within the environment 52, and determine the location of the other physical objects relative to the shared physical objects to determine the location of the other physical objects within the environment 52. Additionally or alternatively, the controller 74 may use the sensor feedback provided by the location sensor 80 to determine the location of the physical objects relative to the sensing system 54, thereby determining the location of the physical objects within the environment 52.

[0022] The controller 74 may further be communicatively coupled to the positioning system 56 to move or adjust the detection system 54 to various target positions. For example, the controller 74 may adjust the positioning system 56 to move the detection system 54 to capture target scanning data, such as data indicative of a particular region within the environment 52. In one embodiment, the positioning system 56 may include an actuator 82, and the controller 74 may send control signals to the actuator 82 to move the positioning system 56, thereby moving the detection system 54 (e.g., relative to the ride vehicle 58). To change the location of the detection system 54 within the environment 52 as the ride vehicle 58 moves along the path 60, the controller 74 may instruct the actuator 82 to move the positioning system 56 (e.g., based on the movement of the ride vehicle 58) and adjust the position of the detection system 54 within the environment 52 to capture various scanning data for use in mapping the environment 52. In an alternative embodiment in which the detection system 54 is used to capture 2D images (e.g., of a target object), the controller 74 may receive feedback indicative of various parameters, such as illumination (e.g., from a lighting sensor), the position of the detection system 54 (e.g., from a contact and / or non-contact proximity sensor), the position of the target object, the movement of the positioning system 56 (e.g., from a gyro sensor and / or an accelerometer), the speed of the ride vehicle 58, the momentum of the ride vehicle 58, another suitable factor, or some combination thereof. The controller 74 may then instruct the positioning system 56 to move the detection system 54 based on the received feedback, such as to keep the target object in focus. In one embodiment, the controller 74 may be preprogrammed to move the detection system 54 to a particular position or orientation during operation of the attraction system 50 in order to capture an image of the target object.

[0023] Additionally, the controller 74 can be communicatively coupled to the environmental features 62 and can be configured to operate and / or adjust the environmental features 62 in a particular manner. In one embodiment, the controller 74 can be configured to adjust the position of the environmental features 62 based on a generated map of the environment 52 and / or based on scanning data collected by the sensing system 54. For example, the controller 74 can adjust how the show effects 66 are directed or output (e.g., change how light is projected) in response to a determination regarding how the placement of the show effects 66 has changed within the environment 52. In certain embodiments, the controller 74 can autonomously control the ride vehicles 58 and / or the positioning system 56. That is, the controller 74 can automatically move the ride vehicles 58 and / or the positioning system 56 (e.g., independently and / or dependently of each other) based on, for example, the target scanning data and / or the operation of the attraction system 50.

[0024] The controller 74 may also include a user interface 84 with which a user may interact. The user interface 84 may include a touch screen, buttons, trackpad, switches, monitor, keyboard, other suitable components, or any combination thereof, that the user may utilize to perform a desired operation. Illustratively, the user may interact with the user interface 84 to adjust the operation of the positioning system 56 and position the detection system 54 at a particular location. Additionally or alternatively, the user may interact with the user interface 84 to adjust the operation of the ride vehicle 58 (e.g., along the path 60) and change the location of the detection system 54 within the environment 52. In this manner, the ride vehicle 58 and the positioning system 56 may be manually controllable, and the controller 74 may enable the user to control the placement of the detection system 54 to at least partially manually map the environment 52. In some embodiments, the user interface 84 may be utilized by the user to select a time when the detection system 54 operates to collect scanning data, for example, when the ride vehicle 58 is at a particular location and / or when the positioning system 56 is at a particular location.

[0025] 2 is a perspective view of one embodiment of an environment 52 of the attraction system 50. In the illustrated embodiment, the ride vehicle 58 is a car that can travel along a path 60 (e.g., a roadway). Additionally, a positioning system 56 is coupled to the ride vehicle 58, and the sensing system 54 is coupled to the positioning system 56. The environment 52 can include a variety of different environmental features 62, such as a first prop 100 (e.g., a tree), a second prop 102 (e.g., a bush), a show effect 104 (e.g., a projector), and a display surface 106 onto which the show effect 104 can project an image 108.

[0026] In the illustrated embodiment, the ride vehicle 58 is at a first location 110 within the environment 52. At the first location 110, the positioning system 56 can position the detection system 54 in a position or orientation that enables the detection system 54 to capture scanning data related to the first prop 100, the second prop 102, the show effects 104, and the display surface 106. For example, the detection system 54 can output various emission signals 112 in and around the environment 52. The emission signals 112 can travel toward the first prop 100, the second prop 102, the display surface 106, among other areas of the environment 52, and the emission signals 112 can reflect off the first prop 100, the second prop 102, and the display surface 106 as reflected signals 113 that are received by the detection system 54. In particular, the detection system 54 can receive a first reflected signal 113A (e.g., as a result of the first emitted signal 112A) reflected from the first prop 100, a second reflected signal 113B (e.g., as a result of the second emitted signal 112B) reflected from the display surface 106, and a third reflected signal 113C (e.g., as a result of the third emitted signal 112C) reflected from the second prop 102. It should be noted that the second prop 102 can be placed in a position or location that blocks the emitted signal 112 from traveling from the detection system 54 to the show effect 104. As a result, the detection system 54 cannot receive the reflected signal 113 reflecting from the show effect 104. The detection system 54 can compare characteristics of the reflected signals 113 to one another (e.g., the wavelength of each reflected signal 113, the time each reflected signal 113 was received) to determine the appearance or orientation of the first prop 100, the second prop 102, the display surface 106, and other physical objects in the environment 52. In one implementation, for each individual emitted signal 112 and corresponding reflected signal 113, the detection system 54 can generate a single virtual point in space that represents the point of the physical object in the environment 52 from which the emitted signal 112 was reflected. For example, the third reflected signal 113C may have reflected from a particular physical point 114 of the second prop 102. Based on the characteristics of the third reflected signal 113C, the detection system 54 can generate a virtual point (e.g., for a 3D map) that represents the physical point 114.The detection system 54 can also generate virtual points for other reflected signals 113, thereby generating a collection of points in space (e.g., a point cloud) to represent each physical object scanned within the environment 52.

[0027] The positioning system 56 can be configured to move the detection system 54 to various positions so that the detection system 54 can receive additional reflected signals 113 and generate additional scanning data of the environment 52. In one embodiment, the positioning system 56 can be configured to move the detection system 54 along a longitudinal axis 116, a lateral axis 118, a vertical axis 120, or some combination thereof. For example, the positioning system 56 can elevate the detection system 54 along an axis parallel to the vertical axis 120, thereby providing the detection system 54 with a vantage point from which to capture scanning data and avoid obstruction of the emitted signal 112 and / or the reflected signal 113 by other physical objects (e.g., path 60). Additionally or alternatively, the positioning system 56 can be configured to rotate the sensing system 54 in a first rotational orientation 122 about an axis parallel to the longitudinal axis 116, a second rotational orientation 124 about an axis parallel to the transverse axis 118, a third rotational orientation 126 about an axis parallel to the vertical axis 120, or some combination thereof. In one example, the sensing system 54 can be configured to emit signals 112 and receive reflected signals 113 about the longitudinal axis 116 and the transverse axis 118, but not about the vertical axis 120, in a first geometric arrangement of the sensing system 54. As such, the sensing system 54 may not map the environment 52 along the vertical axis 120. Thus, the positioning system 56 can rotate the sensing system 54 to a second geometric arrangement (e.g., in the first rotational orientation 122 and / or the second rotational orientation 124) to enable the sensing system 54 to map the environment 52 along the vertical axis 120. In this manner, the ride vehicle 58 can remain at the first location 110, but the positioning system 56 can move the detection system 54 to different positions or orientations to capture scanning data of various areas within the environment 52.

[0028] The ride vehicle 58 can be configured to move along the path 60 (e.g., in the direction 128) to the new location 130. At the new location 130, the detection system 54 can scan and map the environment 52 from a perspective different from that of the first location 110. In this manner, the detection system 54 can receive reflected signals 113 that reflect from different physical objects (e.g., props that were not scanned and mapped from the first location 110) and / or capture different scanning data. For example, at the new location 130, the detection system 54 can output an emitted signal 112 that reflects from the second prop 102 (e.g., from the physical point 114) at a better angle compared to the first location 110. In this manner, the detection system 54 can capture scanning data of the second prop 102 having better resolution or quality. Additionally, the controller 74 may combine the scanning data collected while the ride vehicle 58 was at the new location 130 with the scanning data collected while the ride vehicle 58 was at the first location 110. For example, when the ride vehicle 58 is at the first location 110, the controller 74 may receive the first scanning data and identify the location of the physical point 114 within the environment 52 by comparing the location of the physical point 114 to the location of the detection system 54 within the environment 52. While the ride vehicle 58 is at the new location 130, the controller 74 may receive the second scanning data and again identify the location of the physical point 114 within the environment 52 by comparing the location of the physical point 114 to the location of the detection system 54 within the environment 52. The second scanning data may also include other physical points associated with other physical objects that may not have been scanned when the ride vehicle 58 was at the first location 110. Using the location of physical point 114 as a reference point, the controller 74 can then determine the locations of other physical points and can further add such physical points (e.g., along with virtual points representing the other physical points) to the first scanning data and combine the first and second scanning data together.Thus, while the ride vehicle 58 is at the new location 130, the controller 74 can instruct the positioning system 56 to position the detection system 54 so as to accurately capture scanning data of the physical points 114. The detection system 54 can then be moved to another position or orientation within the environment 52 at the new location 130 to capture additional scanning data that is used to map the environment 52.

[0029] The map of the environment 52 can be used to determine whether the first prop 100, the second prop 102, the show effect 104, and / or the display surface 106 are positioned in a desired location and / or in a desired orientation within the environment 52. For example, based on the generated map of the environment 52, the user may determine that the show effect 104 is not visible to guests when the ride vehicle 58 is in the first location 110, but that the show effect 104 may be visible to guests when the ride vehicle 58 is in the new location 130. Thus, the user may decide to move the show effect 104 such that it is not visible to guests when the ride vehicle 58 is in the new location 130 or at some other location within the environment 52. Additionally or alternatively, the user may specify how the placement of various features (e.g., environmental features 62) can be altered relative to one another. Illustratively, the show effect 104 may be positioned such that the show effect 104 projects and moves the image 108 from the display surface 106 towards the first prop 100. Thus, if the first prop 100 and / or the display surface 106 is moved (e.g., for maintenance), a user may determine whether the positioning of the show effect 104 should also be adjusted to maintain the desired projection of the image 108 from the display surface 106 towards the first prop 100.

[0030] 3 is a schematic diagram of an embodiment of an environment 52 having a first region 150 and a second region 152. In the illustrated embodiment, the detection system 54 is coupled to a ride vehicle 58 via a positioning system 56 having a first segment 154 and a second segment 156. As used herein, each segment of the positioning system 56 may include a support, such as a rod, a telescoping arm, another suitable support, or some combination thereof. The first segment 154 may be coupled to the ride vehicle 58 via a first joint 158 ​​and coupled to the second segment 156 via a second joint 160. Additionally, the detection system 54 may be coupled to the second segment 156 via a third joint 162. In one embodiment, each of the joints 158, 160, 162 may be a ball and socket type joint that allows the first segment 154 to rotate in each of the rotational directions 122, 124, 126 relative to the ride vehicle 58, allows the second segment 156 to rotate in each of the rotational directions 122, 124, 126 relative to the first segment 154, and allows the detection system 54 to rotate in each of the rotational directions 122, 124, 126 relative to the second segment 156. In this manner, the positioning system 56 allows for greater freedom of movement to move and position the detection system 54 relative to the ride vehicle 58. Additionally or alternatively, each of the joints 158, 160, 162 may be a different type of joint, such as a pivot joint, a hinge joint, another suitable joint, or some combination thereof. Additionally, although the illustrated positioning system 56 includes two segments 154, 156 and three joints 158, 160, 162, alternative embodiments of the positioning system 56 may include any suitable number of segments and joints, such as, for example, no segments or joints, between three and five segments and between three and five joints, more than five segments and more than five joints, etc. Additionally, the segments 154, 156 and joints 158, 160, 162 may be rigidly and robustly constructed to limit undesirable and / or unexpected movement of the positioning system 56 (e.g., caused by movement of the ride vehicle 58).

[0031] As described herein, the controller 74 can be configured to instruct the positioning system 56 to position the detection system 54 to capture target scanning data. For example, in the illustrated embodiment, the positioning system 56 positions the detection system 54 to focus on capturing scanning data for the first region 150, rather than scanning data for the second region 152. However, at a different time, the controller 74 can instruct the positioning system 56 to focus on capturing scanning data for the second region 152, rather than scanning data for the first region 150. In response, the controller 74 can independently actuate the segments 154, 156 and / or the joints 158, 160, 162 to adjust the position of the detection system 54 accordingly. In one embodiment, the controller 74 can be configured to actuate the positioning system 56 based on the captured target scanning data, the previously captured scanning data, the current location and position of the detection system 54 within the environment 52, and / or the degrees of freedom of movement of the segments 154, 156 and / or the joints 158, 160, 162. That is, the controller 74 can move the detection system 54 to capture the target scanning data and determine a target position, the controller 74 can determine the target scanning data based on the previously captured scanning data, the controller 74 can determine a current position of the detection system 54 based on sensor feedback received from the location sensor 80 (FIG. 1), and the controller 74 can determine how to actuate the positioning system 56 to move the detection system 54 from a current position to a target position based on how the segments 154, 156 and the joints 158, 160, 162 can move relative to one another to reposition the detection system 54 accordingly. In this manner, the controller 74 can quickly and automatically instruct the positioning system 56 to move the detection system 54 to capture different desired scanning data of various areas within the environment 52 and to facilitate combining the captured scanning data.

[0032] 4 and 5 are each a flow chart illustrating a method or process for performing various actions based on the scanning data captured by the detection system 54. Each method may be performed by a controller, such as the controller 74. It should be noted that the steps of each method may be performed differently in other embodiments. For example, additional steps may be performed, or certain steps of each method may be modified, eliminated, or performed in a different order.

[0033] FIG. 4 is a flow chart of an embodiment of a method 180 for creating a map of an environment 52. In block 181, the controller determines target scanning data to be collected by the sensing system. In an embodiment, there may be no existing scanning data of the environment, and the target scanning data may be some initial scanning data including various physical objects of the environment. In one example, the controller may receive information (e.g., a virtual model) regarding the overall layout of the environment, and the controller may determine the target scanning data to be captured based on the layout (e.g., based on where most of the physical objects are expected to be located). As another example, at the start of an operation to map an environment, the sensing system may be instructed to move to a starting position and / or location, and the controller may instruct the sensing system to capture an initial set of scanning data. In this case, the initial scanning data may be target scanning data that can also be used in future scanning and mapping operations regarding the environment. In additional or alternative embodiments, the controller may receive existing scanning data and, for example, in response to determining missing, corrupted, or otherwise inappropriate data in the existing scanning data, may determine target scanning data to be captured based on the existing scanning data. In further embodiments, the controller may receive user input including target scanning data to be captured by the detection system.

[0034] In block 182, the controller outputs a control signal to the ride vehicle to move the detection system to a target location within the environment of the attraction system based on the target scanning data determined in block 181. For example, the control signal may instruct the attraction system to operate a regular cycle of motion that is determined to cause the ride vehicle to proceed generally along a path, and the controller may determine when the ride vehicle is at a target location of the path. Additionally or alternatively, the control signal may directly instruct the ride vehicle to move directly to the target location of the path.

[0035] At block 184, the controller outputs a control signal to the positioning system to move the detection system to the target position while the ride vehicle is at the target location. As described above, the controller may determine the target position based on the target scanning data, e.g., based on the region of the environment on which the detection system should focus. The controller may then determine a current position of the detection system and compare it to a target position of the detection system. Based on the comparison of the current position to the target position and the configuration or capability of the positioning system to move the detection system, the controller outputs a control signal to the positioning system to move the detection system accordingly.

[0036] In block 186, the controller outputs control signals to the sensing system to capture scanning data associated with the region of the environment at the target position and location of the sensing system. In one embodiment, the control signals can instruct the sensing system to capture individual sets of scanning data at the target position and location of the sensing system, thereby generating a single 3D scan or image of the region. In an alternative embodiment, the control signals can instruct the sensing system to capture multiple scanning data at the target position and location of the sensing system (e.g., for different orientations of the sensing system) by instructing the sensing system to emit a series of signals and receive a series of reflected signals, thereby generating multiple 3D scans of the region. The controller can compare the 3D scans to one another to create more accurate scanning data.

[0037] In block 188, the controller determines whether sufficient scanning data has been captured for the environment. For example, the controller may determine whether scanning data has been captured for each relevant region in the environment. Additionally or alternatively, the controller may determine whether any portion of the captured scanning data is inadequate (e.g., resolution below a threshold) and / or whether there are unexpected gaps in the scanning data. If the controller determines that the captured scanning data is insufficient, the steps of blocks 181-188 may be repeated. During the repetition of the steps, the controller may output control signals to move the detection system to different target positions and / or different target locations based on how the scanning data was determined to be insufficient. As an example, the controller may determine that scanning data for a particular region of the environment is incomplete. Thus, the controller may identify target scanning data associated with the particular region and output control signals to move the detection system to the corresponding target positions and / or target locations to capture target scanning data associated with the particular region.

[0038] Further, the controller can output a control signal to move the detection system to capture additional scanning data in a manner that allows the additional scanning data to be easily combined with the existing scanning data. In other words, the controller can identify subsequent target scanning data that can be combined with the existing scanning data, and can identify a target position and a target location associated with the subsequent target scanning data. For example, the controller can identify a first set of points of the existing scanning data. The controller can then identify a set of points of interest that have not yet been collected and that may be adjacent to the first set of points. Thus, the controller can move the detection system to a position and location that allows the detection system to capture additional scanning data that includes both the first set of points and a set of points that may be adjacent to the first set of points. As a result, the additional scanning data can be easily combined with the existing scanning data using the first set of points that are shared between the additional scanning data and the existing scanning data. In either case, steps 181-188 can be repeated multiple times until the controller determines that sufficient scanning data has been collected. At each iteration, the controller can output a control signal to move the sensing system to acquire additional scanning data.

[0039] In block 190, the controller determines that sufficient scanning data has been captured, and the controller creates a map (e.g., a point cloud representation) of the environment using the captured scanning data, for example, by combining multiple sets of the captured scanning data together. As described herein, the controller can determine the location of the sensing system in the environment and can identify the location of the captured scanning data with respect to the location of the sensing system to determine the overall location of the captured scanning data in the environment. Additionally or alternatively, the controller can identify a set of points that are shared between the different sets of scanning data and can determine the location of the different sets of captured scanning data relative to each other based on the location of the shared points. The created map can include all collected points that indicate various physical objects in the environment, where the map of the environment includes the appearance or orientation of such physical objects in the environment. The controller can then store (e.g., in a memory) the created map. The created map may be captured, for example, by a control device to compare the captured map with a subsequently generated map of the environment, and / or for a user to determine where environmental features should be placed within the environment for reference (e.g., when replacing a particular environmental feature), and / or to confirm that environmental features are placed in their expected or appropriate locations and orientations.

[0040] FIG. 5 is a flow chart of an embodiment of a method 210 for analyzing a map of an environment to determine and / or verify the status of various environmental features. In one example, the controller may execute the method 210 after maintenance, adjustment, or another procedural operation is performed on the attraction system to determine whether the procedural operation has affected any of the environmental features of the environment. Additionally or alternatively, the controller may execute the method 210 to determine whether the actual placement of the environmental features matches the target or expected placement of the environmental features. In block 212, the controller obtains a map of the environment (e.g., a point cloud representation). For example, the controller may execute the steps described with reference to method 180 of FIG. 4 to create a map of the environment. Additionally or alternatively, the controller may receive or import a map of the environment that has already been created.

[0041] In block 214, the controller compares the obtained map of the environment to a baseline layout of the environment. As used herein, a baseline layout refers to a plan or map of the environment that is used as a reference point for comparing subsequently created maps of the environment. The baseline layout may include information related to the physical objects of the environment, such as the appearance of each physical object at a point in time and / or the desired appearance of each physical object. For example, the baseline layout may be an existing map of the environment, a model created to represent the environment, or some other suitable baseline layout of the environment.

[0042] At block 216, the controller determines whether there is a mismatch between the derived map and the reference layout. In one embodiment, the controller may compare the appearance of various physical objects in the derived map to the appearance of various physical objects in the reference layout. For example, the controller may compare the placement of one of the props in the derived map to the placement of the same prop in the reference layout.

[0043] In block 218, the controller determines that there is no discrepancy between the resulting map and the reference layout. As a result, the controller outputs a control signal to verify the environmental features. The control signal may include a notification that the appearance of the environmental features is as desired or expected. Thus, the user is notified that no further action may be taken to change the appearance of the environmental features. Additionally, the controller may not perform any further action that would adjust the appearance of the environmental features.

[0044] However, if the controller determines that there is a mismatch between the resulting map and the reference layout, as performed in the step at block 216, the controller may output a control signal to adjust the environmental features, as shown at block 220. In one embodiment, the control signal may include a notification that the appearance of a particular environmental feature has changed or is not in a desired location within the environment. In this manner, the user may be notified of the mismatch between the appearance of the environmental feature in the reference layout and the appearance of the environmental feature in the resulting map, and the user may decide to modify the environmental feature accordingly. For example, the controller may determine that a show effect is positioned so as not to project an image onto the display surface. Thus, the notification may indicate to the user that the show effect and / or the display surface will be repositioned. The user may utilize the reference layout to determine where the show effect and / or the display surface needs to be positioned to allow the show effect to project an image onto the display surface. Additionally or alternatively, the control signal may automatically adjust the environmental features. For example, the controller may automatically adjust the show effect and / or the display surface to allow the show effect to project an image onto the display surface.

[0045] While only certain features of the disclosed embodiments have been illustrated and described herein, many modifications and changes will occur to those skilled in the art, and it is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes which fall within the true spirit of the present disclosure.

[0046] The technology shown and claimed herein refers to and applies to tangible objects and specific examples of a practical nature that positively improve the art and are therefore not abstract, intangible, or purely theoretical. Moreover, if any claim appended at the end of this specification contains 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 containing an element designated in any other manner, such elements are not to be construed pursuant to 35 U.S.C. 112(f). [Explanation of symbols]

[0047] 50 Amusement Park Attractions (50 51 Amusement Park Attraction Mapping System 52 Environment 54 Detection Systems 56 Positioning system 74 Control device 100, 102, 104 Object

Claims

1. An amusement park attraction mapping system a detection system configured to be disposed within an environment of an amusement park attraction, the detection system configured to capture scanning data of the environment, the scanning data including virtual points indicative of objects within the environment; a positioning system coupled to the sensing system, the positioning system configured to move the sensing system within the environment; and a controller communicatively coupled to the sensing system and the positioning system; Equipped with The control device includes: determining target scanning data captured by the detection system; instructing the positioning system to move the sensing system to a target location based on the target scanning data; directing the sensing system to capture the scanning data at the target location; Comparing the scanning data with a reference layout of the environment; outputting a signal indicative of an adjustment of a characteristic of the environment based on a comparison of the scanning data and the reference layout; The amusement park attraction mapping system is configured as follows.

2. The control device includes: determining additional target scanning data to be captured by the detection system based on a determination that the scanning data is not sufficient to generate a map of the environment; directing the positioning system to move the sensing system to additional target locations based on the additional target scanning data; directing the sensing system to capture additional scanning data at the additional target locations; 2. The amusement park attraction mapping system of claim 1, configured to:

3. 2. The amusement park attraction mapping system of claim 1, wherein the controller is configured to determine whether sufficient scanning data has been captured based on an amount of the scanning data, a resolution of the scanning data, a number of sets of the scanning data, or some combination thereof.

4. 3. The amusement park attraction mapping system of claim 2, wherein the scanning data is associated with a first area of ​​the environment and the additional scanning data is associated with a second area of ​​the environment separate from the first area.

5. 3. The amusement park attraction mapping system of claim 2, wherein the scanning data and the additional scanning data each include a set of shared virtual points, and the control device is configured to combine the scanning data and the additional scanning data together based on the set of shared virtual points.

6. the positioning system is coupled to a ride vehicle of the amusement park attraction and is configured to instruct the positioning system to move the sensing system to the target position relative to the ride vehicle; 2. The amusement park attraction mapping system of claim 1, wherein the controller is configured to instruct the ride vehicle to move to a target location in the environment such that the detection system moves to the target location, and the controller is configured to instruct the detection system to capture scanning data at one of the target locations corresponding to the target location.

7. 10. The amusement park attraction mapping system of claim 1, wherein the sensing system comprises a light detection and ranging device, an infrared three-dimensional (3D) scanner, a structured light scanner, a digital photogrammetry scanner, or any combination thereof.

8. An amusement park attraction mapping system. a detection system configured to be disposed within an environment of an amusement park attraction, the detection system configured to capture scanning data of the environment, the scanning data including virtual points indicative of objects within the environment; a positioning system coupled to the sensing system, the positioning system configured to move the sensing system within the environment; and a controller communicatively coupled to the sensing system and the positioning system; Equipped with The control device includes: determining target scanning data captured by the detection system; outputting a first control signal to the positioning system to instruct the positioning system to move the sensing system to a target position based on the target scanning data; outputting a second control signal instructing the detection system to capture the scanning data at the target location; It is configured as follows: The position adjustment system includes at least two position adjustment arms coupled via at least one joint, and the control device is configured to actuate each of the position adjustment arms to move the detection system.

9. 1. A controller for an amusement park scanning and mapping system, the controller comprising a tangible, non-transitory, computer readable medium having computer executable instructions stored thereon, the computer executable instructions, when executed, causing one or more processors to: determining target scanning data of the captured amusement park environment including a target set of virtual points; outputting a first control signal to a vehicle of the amusement park ride to move a detection system to a target location within the amusement park based on the target scanning data; outputting a second control signal to a positioning system coupled to the vehicle for moving the detection system to a target position relative to the vehicle based on the target scanning data; outputting a third control signal to the sensing system to capture scanning data at the target position and the target location; The control device is configured to:

10. The control device of claim 9 , wherein the instructions, when executed, are configured to cause the one or more processors to output the first control signal to instruct the ride vehicle to move along a path of the amusement park attraction within the environment.

11. 10. The control device of claim 9, wherein the instructions, when executed, are configured to cause the one or more processors to output the second control signal to instruct the positioning system to rotate the detection system relative to the ride vehicle, translate the detection system relative to the ride vehicle, or both.

12. The controller of claim 9 , wherein the instructions, when executed, are configured to cause the one or more processors to receive user input and determine the target scanning data based on the user input.

13. The control device of claim 9 , wherein the instructions, when executed, are configured to cause the one or more processors to receive previously captured scanning data of the environment and determine the target scanning data based on the previously captured scanning data.

14. 1. An amusement park attraction system, comprising: A vehicle; a sensing system configured to capture scanning data of an environment of an amusement park attraction, the scanning data including data points indicative of physical objects within the environment; a positioning system coupling the sensing system to the ride vehicle, the positioning system configured to move the sensing system relative to the ride vehicle; and a controller communicatively coupled to the ride vehicle, the sensing system, and the positioning system; The control device includes: determining a set of target scanning data captured by the detection system; directing the vehicle and the positioning system to move the sensing system to a plurality of locations within the environment, each of the locations being associated with one of the sets of target scanning data; instructing the detection system to capture sets of scanning data, each set of scanning data associated with a respective configuration of the plurality of configurations; combining the sets of scanning data together to create a data point cloud of the environment; The amusement park attraction system is configured as follows.

15. 15. The amusement park attraction system of claim 14, wherein the controller is configured to instruct the ride vehicle to move to a predetermined location within the environment and to instruct the positioning system to move the detection system to a predetermined position relative to the ride vehicle based on the location.

16. The detection system includes a location sensor, and the controller includes: receiving, for each set of scanning data of the sets of scanning data, a respective sensor feedback from the location sensor to determine a respective location of the sensing system within the environment; Associating each set of scanning data of the sets of scanning data with a respective location of the sensing system within the environment; combining the sets of scanning data together based on the respective locations associated with each set of scanning data of the sets of scanning data.

15. The amusement park attraction system of claim 14 configured as follows:

17. The control device includes: comparing the data point cloud of the environment to a reference layout of the environment; determining a discrepancy between the data points of the environment and the reference layout of the environment; and, in response to the discrepancy, outputting a signal related to an adjustment of a characteristic of the environment.

15. The amusement park attraction system of claim 14 configured as follows:

18. 20. The amusement park attraction system of claim 17, wherein the controller is configured to output the signal to provide a notification to a user indicating the adjustment of the feature, or to automatically adjust the feature, or both.

19. 20. The amusement park attraction system of claim 17, wherein the reference layout comprises an existing map of the environment, a model of the environment, or both.

20. The control device includes: comparing the data point cloud of the environment to the reference layout of the environment; determining whether a mismatch exists between the data points of the environment and the reference layout; and in response to the absence of a mismatch, outputting a signal to ascertain a location or appearance of a feature of the environment.

20. The amusement park attraction system of claim 19, configured as follows:

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