Patent Description:
This disclosure relates generally to systems and methods for generating programmable three-dimensional special effects and, specifically, techniques for generating special effects using granular particles.

This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure. Accordingly, it should be noted that these statements are to be read in this light and not as admissions of prior art. Throughout amusement parks and other entertainment venues, special effects can be used to help immerse guests in the experience of a ride or attraction. Immersive environments may include three-dimensional (3D) props and set pieces, robotic or mechanical elements, and/or display surfaces that present media. In addition, the immersive environment may include audio effects, smoke effects, and/or motion effects. Thus, immersive environments may include a combination of dynamic and static elements. A document disclosing a similar system can be found in <CIT>). However, installation of an immersive environment is complex, and certain elements of the immersive environment are difficult to update or change to incorporate new narratives. With the increasing sophistication and complexity of modern ride attractions, and the corresponding increase in expectations among theme or amusement park patrons, improved and more creative attractions are desirable, including ride attractions having more complex immersive environments.

The present invention is directed to a device according to claim <NUM>. Subsidiary aspects of the invention are provided in the dependent claims.

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

In an example, a system includes a medium disposed on a base, a plurality of transducers coupled to the base, and a controller communicatively coupled to the plurality of transducers such that each individual transducer of the plurality of transducers is individually addressable by the controller. The controller is configured to receive feedback and to instruct at least some of the individual transducers of the plurality of transducers to activate to move the medium on the base to create a shaped surface based on the feedback.

In an example, a system includes a base, a medium disposed on the base, a plurality of transducers coupled to the base, a user interface, and a controller communicatively coupled to the plurality of transducers and the user interface. Each transducer of the plurality of transducers is configured to be activated to cause local vibration within the medium, and the controller is configured to receive feedback indicative of an operating parameter of the system from the user interface and instruct at least a portion of the transducers of the plurality of transducers to activate based on the feedback to move the medium to form a shaped surface on the base.

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

Granular particles may provide a surface of an immersive environment that is malleable and easily replaceable. However, achieving standing structures and certain desired contours or profiles using granular particles is complex. Accordingly, automatically moving and positioning the granular particles in a user-defined manner may enhance the formation of granular particles into various profiles. In accordance with embodiments of the present disclosure, a system may have granular particles disposed on a surface. The system also includes one or more individually addressable transducers (e.g., acoustic transducers) that act to cause vibration of the granular particles. Each transducer may be controlled to emit energy (e.g., via an acoustic wave, a mechanical wave, a pressure wave), with particular characteristics in a particular direction such that the combined effect of all of the total waves emitted by the transducers moves the granular particles into the desired profile.

In an embodiment, the transducers cause vibration of the granular particles. The disclosed arrangements may be in contrast to systems such as kinetic tables that transmit vibrations through a single vibrating plate such that the granular particles settle into nodes of the plate. In an embodiment, the container or base holding the granular particles and to which the transducers are coupled may include an internally damped surface such that the vibration caused by each of the transducers is not transmitted through the base itself or has limited transmission through the base. This permits local and predictable vibration effects in the granular particles caused by each transducer that are not confounded or significantly diluted by vibration of the entire base. In another embodiment, the transducers may directly cause local vibration of the base such that the base vibrates an amount dictated by the drive signal for each transducer. The vibrations may cause the granular particles to move into various positions or orientations relative to one another and/or the base, based on a particular property of each generated emission of the respective transducers. Sustaining the vibrations may also maintain the position of the granular particles to maintain the desired profile. The configuration of the transducers to cause the vibrations may be automatically adjusted and based on user input based on the desired profile to move the granular particles accordingly.

Controlled shaping of the granular particles may permit dynamic and complex standing structures to form and disappear as desired. The standing structures may be enhanced with projection mapping that is coordinated with the transducer control to generate illusions over a broad surface using an inexpensive and easily maintained granular material. In this manner, projection mapping may be used to project images onto a floor surface to augment three-dimensional illusions. Floor-based three-dimensional illusions are typically complex, and it may be difficult to effectively maintain an illusion that involves depth on a planar floor material. However, creating shaped surfaces on the floor may not be desirable in situations in which users are also traversing the floor. The disclosed techniques provide a floor surface with depth and texture to enhance three-dimensional illusions generated by projected images. For example, an immersive environment may include a floor surface that users walk upon and that is formed from or includes sand or other granular particles. For example, rippling water illusions may be generated using shaped sand in conjunction with projected images. The shaped surface enhances the water illusion without involving a costly shaped display surface.

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

Turning now to the drawings, <FIG> is a schematic top view of an embodiment of a shaped surface <NUM> formed by a control system <NUM> configured to create and control a pattern, orientation, or positioning of granular particles <NUM>. The shaped surface <NUM> is depicted as a Zen garden, including patterns of waves <NUM> distributed in a pattern. However, it should be noted that the depicted shaped surface <NUM> is by way of example, and other configurations are contemplated. Further, the depicted shaped surface <NUM> may transition to other shaped surfaces <NUM> during the course of an event or attraction. That is, the shaped surface <NUM> may be dynamic or static as provided herein.

The granular particles <NUM> may be disposed on an underlying base <NUM> in an amount that at least partially covers the base <NUM> (e.g., covers at least <NUM>% of the surface area of the base <NUM>, at least <NUM>% of the surface area). In one embodiment, the base <NUM> may include a lip or barrier <NUM> surrounding at least a portion of a perimeter of the base <NUM> to block the granular particles <NUM> from moving off the base <NUM>. That is, the barrier <NUM> may contain the granular particles <NUM> on the base <NUM> and permit the granular particles <NUM> to experience the vibration effects caused by the control system <NUM>. In an additional or an alternative embodiment, the barrier <NUM> may be moveable and/or the control system <NUM> may not include the barrier <NUM> to permit the granular particles <NUM> to flow off the base <NUM> more easily (e.g., in a waterfall effect or to permit cleaning or replacement). For example, when used granular particles <NUM> are to be replaced, the granular particles <NUM> may be directed or forced off the base <NUM> to clear the base <NUM> of granular particles <NUM> and new granular particles <NUM> may be added onto the base <NUM>.

The control system <NUM> includes a plurality of transducers <NUM> (e.g., arranged in an array), that may be activated to move the granular particles <NUM> relative to the base <NUM>, such as to form a desired shaped surface <NUM> of the granular particles <NUM> on the base <NUM>. Each transducer <NUM> may be coupled to the base <NUM> via a housing <NUM>. The housing <NUM> may include one or more damping structures to restrict transfer of energy from the activated transducer <NUM> to the coupled base <NUM> and/or transfer of energy between transducers <NUM>. The damping structures may include acoustically or mechanically absorptive materials, such as foam, air bladders or other structures with air gaps. For example, individual transducers <NUM> may be positioned in direct or indirect contact with the base <NUM>, including around at least a perimeter of the base <NUM> (e.g., against the barrier <NUM> and/or a side of the base <NUM>) and/or above or below the base <NUM> relative to a vertical axis <NUM>. In an embodiment, upon activation, each transducer <NUM> may emit a wave that causes vibrations transmitted through and/or across the granular particles <NUM> to displace and excite (e.g., vibrate) the granular particles <NUM> according to the drive signal of each transducer <NUM>. The waves may be controlled to move and orient the granular particles <NUM> in a certain manner to create the desired shaped surface <NUM> from the granular particles <NUM>. In an example embodiment, the waves may include acoustic or sound waves (e.g., having a low frequency that may not be audible to the human ear). In an additional or an alternative embodiment, the waves may include mechanical waves (e.g., a physical vibration of the base <NUM>). In certain embodiments, the base <NUM> may be segmented. Each segment of the base <NUM> may include merely a portion of the transducers <NUM> and may be physically separated from adjacent segments via intervening structures or air gaps to damp vibrations between adjacent base segments. In this manner, vibration of the base <NUM> in each segment may have reduced effects on the adjacent segments.

Each transducer <NUM> may be controlled independently from one another to orient the granular particles <NUM> as desired into a shaped surface <NUM> and to transition to different shaped surfaces <NUM>. The produced vibrations may cause the granular particles <NUM> to move towards or away from the base <NUM> relative to the vertical axis <NUM> (e.g., orthogonal to a plane formed by a lateral axis <NUM> and a longitudinal axis <NUM>) and/or crosswise to the vertical axis <NUM>. Sustaining the vibrations may also maintain the granular particles <NUM> at a particular orientation. In other words, activating the transducers <NUM> to cause the vibrations may initially cause the granular particles <NUM> to move in a particular direction and into a certain profile or characteristic shaped surface <NUM>. As the transducers <NUM> continue to be active, the profile of the granular particles <NUM> is maintained. It should be noted that while the profile of the granular particles <NUM> is maintained, the granular particles <NUM> may continue to oscillate. Thus, the sustained profile of the granular particles <NUM> may be considered a standing wave, which may include resonant frequencies in all or a portion of the granular particles <NUM>. However, the general position of the granular particles <NUM> may be substantially maintained to maintain the profile of the granular particles <NUM>. Indeed, the standing wave may be generated based on properties of the granular particles <NUM>, such as the size, color, mass, and so forth, of the granular particles <NUM>. In one embodiment, objects or props <NUM> may form part of the control system <NUM>. The presence of the props <NUM> may influence the shaped surface <NUM>, for example by causing obstacles to the propagation of a planar wave across the base <NUM>. In an embodiment, the vibrations may be of sufficient force to move one or more props <NUM> to new positions on the base <NUM> in a controlled manner. Such movement may be part of a desired illusion.

It should be noted that the granular material that includes the granular particle <NUM> may be selected based on a desired property of the granular particles <NUM>, such as a desired movement or appearance of the granular particles <NUM>. For instance, the granular particles <NUM> may each have a particularly selected size. Larger sized granular particles <NUM> may be held more steadily than smaller sized granular particles <NUM>, but smaller sized granular particles <NUM> may be moved more easily than larger sized granular particles <NUM>. The granular particles <NUM> may also have a certain surface characteristic, such as a particular roughness. For example, increasing the roughness of the surface of each granular particle <NUM> results in the position of granular particles <NUM> relative to one another being held more securely due to increased friction between the granular particles. Increased friction may further be achieved by forming the granular particles <NUM> into geometric shapes having an increased surface area to enable greater contact between the granular particles <NUM>. The granular particles <NUM> may have additional or alternative properties, such as a visual appearance (e.g., color, shape), a mass, a specific heat, a magnetic characteristic, a chemical characteristic, an electrical characteristic, another suitable property, or any combination thereof that may be selected based on a particular application of the control system <NUM>.

<FIG> is a side view of an embodiment of the control system <NUM> having the base <NUM>, the barrier <NUM>, and the transducers <NUM>. As shown in the side view, the transducers <NUM> may be arranged on or in the base <NUM> and arranged on or in the side barrier/s <NUM> (e.g., that run parallel to the vertical axis <NUM>) As illustrated, each transducer <NUM> is configured to cause local vibrations of the granular particles <NUM>, whereby the vibrations are caused by emitted waves <NUM>. Each wave <NUM> may continually displace a medium (e.g., displace air for a sound wave, displace the base <NUM> for a mechanical wave) and be emitted having characteristics that alternate the medium between a crest <NUM> (e.g., a high point) and a trough <NUM> (e.g., a low point). Each wave <NUM> may have a characteristic amplitude <NUM>, which is a difference between the crest <NUM> and the trough <NUM>, and a period <NUM>, which is a full cycle or completion of the crest <NUM> and the trough <NUM>. Each transducer <NUM> may emit a differently shaped wave <NUM> depending on the orientation of the transducer <NUM> relative to the base <NUM> as well as the control signal driving the transducer <NUM>. For example, a first transducer 58A may cause a vibration orthogonal to the plane formed by the axes <NUM>, <NUM> by emitting a first wave 100A and a second transducer 58B may cause a vibration orthogonal to a plane formed by the axes <NUM>, <NUM> by emitting a second wave 100B that may have a larger amplitude <NUM> and a longer period <NUM> than those of the first wave 100A. In an alternative embodiment, the first wave 100A may have the same period <NUM> as that of the second wave 100B and/or may have the same amplitude <NUM> as that of the second wave 100B, but the first wave 100A may be generated at a different time than the second wave 100B. That is, the first wave 100A may be similarly shaped as the second wave 100B, but the first wave 100A may have the crest <NUM> and the trough <NUM> at different positions as compared to the crest <NUM> and the trough <NUM>, respectively, of the second wave 100B relative to the vertical axis <NUM>.

The waves 100A, 100B may not interfere with one another to modify the respective waves 100A, 100B. However, certain transducers <NUM> may emit waves that do interfere with one another. For instance, a third transducer 58C may emit a wave orthogonal to a plane formed by the axes <NUM>, <NUM> (e.g., parallel to the longitudinal axis <NUM>) having a third wave 100C that interferes with another fourth wave 100D as emitted orthogonal to the plane formed by the axes <NUM>, <NUM> by a fourth transducer 58D. In the illustrated embodiment, the third transducer 58C may be positioned directly across the fourth transducer 58D, such that the third wave 100C and the fourth wave 100D are emitted at one another. Emitting the third wave 100C and the fourth wave 100D directly towards one another may combine the waves 100C, 100D together. In other words, the third wave 100C and the fourth wave 100D may superimpose based on a respective displacement caused by the third wave 100C and fourth wave 100D and produce a superimposed wave <NUM>. For example, at a first position <NUM>, in which the respective crests <NUM> of the third wave 100C and the fourth wave 100D substantially align, the third wave 100C and the fourth wave 100D may add together. However, at a second position <NUM>, the crest <NUM> of the fourth wave 100D may substantially align with the trough <NUM> of the third wave 100C. As a result, the third wave 100C may be subtracted from the fourth wave 100D, and the third wave 100C and the fourth wave 100D may substantially cancel each other out. The different transducers <NUM> may be controlled to create a particularly shaped superimposed wave <NUM>, which may not otherwise be effectively created by individual transducers <NUM>, in order to create a particular shaped surface (see <FIG>) of the granular particles <NUM>. It should be noted that although <FIG> illustrates that the superimposed wave <NUM> is created via transducers 58C, 58D that are positioned across from one another, the superimposed wave <NUM> may additionally or alternatively be created via transducers <NUM> at different positions relative to one another. For instance, the first wave 100A emitted by the first transducer 58A may interfere with the third wave 100C and/or the fourth wave 100D to change the shape of the superimposed wave <NUM>.

Each transducer <NUM> may also be configured to move relative to the base <NUM> and the barrier <NUM> to change where the local vibration propagates. For instance, each transducer <NUM> may mechanically actuate relative to the vertical axis <NUM>, the lateral axis <NUM>, and/or the longitudinal axis <NUM>. Additionally or alternatively, each transducer <NUM> may rotate (e.g., about an axis extending parallel to the vertical axis <NUM>, an axis extending parallel to the lateral axis <NUM>, and/or an axis extending parallel to the longitudinal axis <NUM>). Changing the orientation of the transducers <NUM> to change the property of the propagating vibration may also change how the granular particles <NUM> move relative to the base <NUM>, thereby changing the profile of the granular particles <NUM>. In an additional or an alternative embodiment, a portion of the base <NUM> and/or the barrier <NUM> may be configured to move. As an example, a portion of the base <NUM> may move orthogonal to the plane formed by the axes <NUM>, <NUM>. Thus, the granular particles <NUM> disposed at that portion of the base <NUM> may also move orthogonal to the plane formed by the axes <NUM>, <NUM> with the base <NUM> to change the profile of the granular particles <NUM>. Moreover, movement of the base <NUM> and/or the barrier <NUM> may change the property of the waves <NUM> emitted by the transducers <NUM>, further changing the produced movement of the granular particles <NUM>. For example, moving a part of the base <NUM> and/or the barrier <NUM> may cause one of the waves <NUM> to deflect, diffract, refract, and the like.

The control system <NUM> may additionally include other components that may be used to move the granular particles <NUM>. By way of example, the control system <NUM> may also include a fan, a magnet (e.g., for granular particles <NUM> that have magnetic properties), a fluid sprayer, another suitable component, or any combination thereof. Such components may also be controlled to facilitate creating a desired profile with the granular particles <NUM>. In one example, the control system <NUM> may activate one or more electromagnets coupled to the base <NUM> to strengthen the effects caused by the active transducers <NUM> on magnetic or metal granular particles <NUM>. The polarity of the magnetic force may be used to create desired shapes or patterns.

<FIG> is a side view of an embodiment of the control system <NUM> having the transducers <NUM> activated to orient the granular particles <NUM> in a particular profile <NUM>. In the illustrated embodiment, the profile <NUM> includes an approximately triangular shape extending away from the base <NUM> relative to the vertical axis <NUM>. For example, certain transducers <NUM> may activate to cause vibrations in the granular particles <NUM>, while a remainder of transducers <NUM> (e.g., a fifth transducer 58E and a sixth transducer 58F) may not be activated to cause vibrations. As a result, the granular particles may move away from the transducers 58E, 58F that are not activated, and move toward and/or stack adjacent to the transducers <NUM> that are activated. Continuously activating the transducers <NUM> in the described manner to sustain the vibrations may maintain the profile <NUM>.

<FIG> is a schematic of an embodiment of the control system <NUM> having the granular particles <NUM>, the base <NUM>, the transducer <NUM>, an actuator <NUM> configured to move the transducer <NUM> relative to the base <NUM>, and a projector <NUM> that may project an image onto the granular particles <NUM> and the base <NUM>. The transducer <NUM> may cause the granular particles <NUM> to form a particular profile and the projector <NUM> may project an image onto the formed profile of the granular particles <NUM>, such as onto a surface of the granular particles exposed to the projector <NUM>. Moreover, the actuator <NUM> may be controlled to control a position or orientation of the transducer <NUM> relative to the base <NUM>. By way of example, the actuator <NUM> may be configured to move relative to the vertical axis <NUM>, the lateral axis <NUM>, and/or the longitudinal axis <NUM> (e.g., linearly), and/or may rotate about an axis oriented in any manner relative to the vertical axis <NUM>, the lateral axis <NUM>, and the longitudinal axis <NUM>. The actuator <NUM> may include a spring, an electric actuator, a pneumatic actuator, a hydraulic actuator, another suitable actuator, or any combination thereof, that may be operated by the controller <NUM> to move the transducer <NUM> relative to the base <NUM>. As mentioned, such movement of the actuator <NUM> may change how waves are emitted by the transducer <NUM>, and may change how the granular particles <NUM> move relative to the base <NUM>.

The control system <NUM> may include a controller <NUM> having a memory <NUM> and a processor <NUM>. The memory <NUM> may include volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read-only memory (ROM), optical drives, hard disc drives, solid-state drives, or any other non-transitory computer-readable medium that includes instructions to operate the control system <NUM>. The processor <NUM> may be configured to execute such instructions. For example, the processor <NUM> 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 controller <NUM> may also include a user interface <NUM>, such as a touch screen, a trackpad, a button, a switch, another suitable component, or any combination thereof, with which a user may interact to operate the control system <NUM>. The controller <NUM> may receive a user input as a result of the interaction between the user and the user interface <NUM>, and may operate the transducer <NUM>, the actuator <NUM>, and/or the projector <NUM> based on the user input.

The controller <NUM> may be communicatively coupled to the transducer <NUM> and the projector <NUM> to project an image onto the profile of the granular particles <NUM>. In one embodiment, the transducer <NUM> and/or the actuator <NUM> may be operated to move the granular particles <NUM> while the projector <NUM> may simultaneously project multiple image frames onto the granular particles <NUM> to produce a three-dimensional video animated by the granular particles <NUM>. For example, the transducer <NUM> may be pre-programmed to emit a particular wave at various times of the operation of the control system <NUM>, the actuator <NUM> may be pre-programmed to move the transducer <NUM> at various times of the operation of the control system <NUM>, and the projector <NUM> may also be pre-programmed to project a particular image at various times of the operation of the control system <NUM>. The coordination between the actuator <NUM>, the transducer <NUM>, and the projector <NUM> may enable the video animation of the granular particles <NUM>. The controller <NUM> may be configured to store different combinations of pre-programmed operations of the transducer <NUM>, the actuator <NUM>, and/or projector <NUM>. Such combinations may be selectable via the user interface <NUM>, and the control system <NUM> may operate the transducer <NUM>, the actuator <NUM>, and/or the projector <NUM> based on the selected combination.

In an additional or an alternative embodiment, the projector <NUM> may project an image based on the profile of the granular particles <NUM>. As an example, the controller <NUM> may be communicatively coupled to a sensor <NUM> configured to determine an operating parameter of the control system <NUM>, such as a current profile of the granular particles <NUM>. The sensor <NUM> may determine a positioning of the granular particles <NUM> relative to the vertical axis <NUM>, the lateral axis <NUM>, and/or the longitudinal axis <NUM> relative to the base <NUM>. The projector <NUM> may receive feedback from the sensor <NUM> indicative of the positioning and, based on the determined positioning, the projector <NUM> may project a corresponding image. For instance, the projector <NUM> may project a first color onto a first area of the base <NUM> having the granular particles <NUM> stacked at a first height relative to the vertical axis <NUM>, and the projector <NUM> may project a second color onto a second area of the base <NUM> having the granular particles <NUM> stacked at a second height relative to the vertical axis <NUM>. Adjusting the profile of the granular particles <NUM> may cause the projector <NUM> to change the image projected onto the granular particles <NUM> automatically based on the feedback transmitted by the sensor <NUM>. By way of example, the user interface <NUM> may be used to control the transducer <NUM> and/or the actuator <NUM> to change the profile of the granular particles <NUM>, and the projector <NUM> may project an image onto the granular particles <NUM> accordingly. In this manner, the projector <NUM> may dynamically map the image onto the exposed surface of the plurality of granular particles <NUM>.

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

In an example embodiment, the control system <NUM> may have a prop <NUM> disposed within the granular particles <NUM>, and the first user 200A may use the first user interface 168A to move the prop <NUM> relative to the base <NUM>. That is, the first user 200A may adjust the waves emitted by the transducer <NUM> and/or select an orientation of the transducer <NUM> to move the granular particles <NUM> relative to the base <NUM>, thereby driving the prop <NUM> to move relative to the base <NUM>. Adjusting a property (e.g., the amplitude <NUM> and/or the period <NUM> of the associate wave <NUM>) of the wave may change the movement of the granular particles <NUM> relative to the base <NUM> and change the movement of the prop <NUM> relative to the base <NUM> as well. In this manner, the users <NUM> may operate the control system <NUM> to move various props <NUM> relative to one another, such as to race vehicles within the granular particles <NUM>, by way of example.

The second user interface 168B may include a touchscreen, computing device, display, another suitable component, or any combination thereof that enables the second user 200B to select a particular operation, such as a pre-programmed operation, of the control system <NUM>. For instance, the controller <NUM> may receive feedback from the second user 200B indicative of a selected operation, and the controller <NUM> may operate the transducer <NUM>, the actuator <NUM>, and/or the projector <NUM> based at least in part on the selected operation. In other words, the second user 200B may select a particular pre-programmed operation of the control system <NUM> via the second user interface 168B, and the controller <NUM> may automatically operate the control system <NUM> based on the selected pre-programmed operation. For example, based on the selected pre-programmed operation, the controller <NUM> may operate the transducer <NUM> and/or the actuator <NUM> to form a particular profile of the granular particles <NUM>, and also to operate the projector <NUM> to project a particular image onto the granular particles <NUM>. In another example, the selected pre-programmed operation may be indicative of a particular movement and/or of a target position of the prop <NUM>, and the controller <NUM> may operate the transducer <NUM> and/or the actuator <NUM> based on the selected pre-programmed operation to move the prop <NUM> in accordance with the particular movement.

<FIG> is a schematic of an embodiment of the control system <NUM>, in which the users <NUM> may be positioned directly on the granular particles <NUM> on the base <NUM>. The controller <NUM> may operate the control system <NUM> based on the action of the users <NUM>. In one embodiment, the controller <NUM> may operate the transducer <NUM> and/or the actuator <NUM> to create a particular profile of the granular particles <NUM> and/or to move the granular particles <NUM> in a particular manner based on the position of the users <NUM> about the base <NUM>. For example, the controller <NUM> may instruct the transducer <NUM> to emit a wave that positions the granular particles <NUM> around the users <NUM>, such that the users <NUM> do not step on the granular particles <NUM> to create a seas parting illusion. In an additional or an alternative embodiment, the controller <NUM> may create a particular profile of the granular particles <NUM> and/or move the granular particles <NUM> in a particular manner based on an interaction between the users <NUM> and the base <NUM>. As an example, the controller <NUM> may instruct the transducer <NUM> to cause a local vibration that moves the granular particles <NUM> in a circular movement around a particular user <NUM> that is stationary relative to the base <NUM>, and the controller <NUM> may instruct the transducer <NUM> to emit a wave causing a local vibration that moves the granular particles <NUM> linearly with another particular user <NUM> that is moving relative to the base <NUM>. Such movement of the granular particles <NUM> may create an effect of the granular particles <NUM> flowing around the user <NUM> as they walk.

In the illustrated embodiment, the controller <NUM> may use machine vision, or analysis of images (e.g., of the granular particles <NUM>, the base <NUM>) to operate the control system <NUM>. For instance, the sensor <NUM> may transmit feedback to the controller <NUM> indicative of a condition (e.g., visual appearance, composition) of the granular particles <NUM> and/or of the base <NUM>, and the controller <NUM> may operate the control system <NUM> based on the feedback. In one embodiment, the sensor <NUM> may be a position sensor configured to determine the position of the users <NUM> relative to the base <NUM>. For example, the sensor <NUM> may be a light detection and ranging (LIDAR) sensor, a camera, an electro-optical sensor, another suitable position sensor, or any combination thereof. The sensor <NUM> may be positioned above the base <NUM> relative to the vertical axis <NUM> to enable the sensor <NUM> to determine where the users <NUM> are positioned on the base <NUM>. Additionally or alternatively, the sensor <NUM> may be a pressure sensor configured to determine a force exerted by the users <NUM> onto the base <NUM>. Based on the position of the sensors <NUM> that determines the force, the controller <NUM> may determine where the users <NUM> are positioned relative to the base <NUM>. For example, the sensor <NUM> may be positioned underneath the base <NUM> relative to the vertical axis <NUM>. Each sensor <NUM> is configured to determine a presence of a force, which corresponds to a weight of one of the users <NUM>. The controller <NUM> may receive feedback from the sensors <NUM> indicative of the force and, based on the sensors <NUM> that indicate the presence of the force, the controller <NUM> may determine a location of the force to determine the location of the users <NUM> relative to the base <NUM>. In a further embodiments, the sensor <NUM> may be a motion sensor, such as an ultrasonic sensor, a velocimeter, a passive infrared sensor, a vibration sensor, or any combination thereof, configured to detect a movement and determine location of such movement relative to the base <NUM>. The controller <NUM> may determine the location of the users <NUM> relative to the base <NUM> based on detected movement. Other embodiments of sensors <NUM> may also be used, including an acoustic transducer, an infrared radiometer, and/or any other suitable sensor.

Moreover, the sensor <NUM> may be configured to determine an operating parameter of the granular particles <NUM>, and the controller <NUM> may operate the control system <NUM> based on the determined operating parameter. For instance, the sensor <NUM> may be an image sensor configured to detect impurities in the granular particles <NUM>, such as dirt, debris, or other unwanted particles, based on a captured image (e.g., a coloration characteristic of the image) of the granular particles <NUM>. The controller <NUM> may then instruct the transducer <NUM> to emit a wave to move the granular particles <NUM> based on the detected impurities, such as by moving the granular particles <NUM> off the base <NUM> to enable new granular particles <NUM> to be added onto the base <NUM>. In this manner, the control system <NUM> may be utilized for self-maintaining the granular particles <NUM> and/or the base <NUM>. The sensor <NUM> may also determine additional or alternative operating parameters of the control system <NUM>, such as the temperature of the granular particles <NUM>, a force exerted onto the granular particles <NUM>, a time of operation of the control system <NUM>, another suitable operating parameter, or any combination thereof. The controller <NUM> may then operate the control system <NUM> to move the granular particles <NUM> and/or to maintain a position of the granular particles <NUM> based on the operating parameter.

While only certain features of the disclosure have been illustrated and described herein the invention is defined by the appended claims.

Claim 1:
A material shaping system, comprising:
a medium disposed on a base (<NUM>);
a plurality of transducers (<NUM>) coupled to the base (<NUM>), wherein each transducer of the plurality of transducers is configured to be activated to cause local vibration within the medium;
a projector (<NUM>) configured to project an image toward the base; and
a controller (<NUM>) communicatively coupled to the plurality of transducers (<NUM>) and the projector (<NUM>), wherein the controller is configured to:
receive feedback indicative of an operating parameter of the system;
instruct at least a portion of the transducers of the plurality of transducers (<NUM>) to activate based on the feedback to form a shaped surface (<NUM>) from the medium on the base (<NUM>); and
instruct the projector (<NUM>) to project the image toward the medium and/or the base (<NUM>) in response to the feedback.