RU2763166C2 - System and method for tracking for use in monitoring of amusement park equipment - Google Patents

Abstract

FIELD: monitoring systems.SUBSTANCE: invention relates to the field of monitoring with a dynamic “signal-to-noise” ratio. A monitoring system with a dynamic “signal-to-noise” ratio provides detection and tracking of amusement park equipment within the field of view of the monitoring system. The monitoring system may include an emitter made with the possibility of emitting electromagnetic radiation in the area, a detector made with the possibility of detecting electromagnetic radiation reflected back from vehicles in the area, and a control module made with the possibility of evaluating signals from the detector to monitor amusement park equipment to determine, whether equipment has worn out or shifted.EFFECT: increase in the reliability of the monitoring system in the outdoor environment and in the presence of other sources of electromagnetic radiation.20 cl, 20 dwg

Description

Cross-references to related applications

[0001] This application claims priority to U.S. Provisional Application No. 62/001,551, filed May 21, 2014, the contents of which are incorporated herein by reference in their entirety.

State of the art

[0002] The present invention relates generally to the field of tracking systems, and more particularly to methods and equipment used to provide tracking of elements in various contexts through a dynamic signal-to-noise ratio tracking system.

[0003] Tracking systems are widely used to track, among other aspects, the movement, position, orientation, and distance between objects in a wide variety of contexts. Such existing tracking systems generally include an emitter that emits electromagnetic energy and a detector capable of detecting electromagnetic energy, sometimes after it has been reflected from an object. It must now be recognized that traditional tracking systems have certain disadvantages and that improved tracking systems are needed for use in a variety of contexts including but not limited to amusement park rides, workplace surveillance, sports, fireworks, factory floor management, robotics, security systems, parking and transport.

Disclosure of invention

[0004] According to an embodiment of the present invention, an amusement park surveillance system includes an amusement park element having a retroreflective marker; an emitter configured to emit electromagnetic radiation to the retroreflective marker; a detector configured to detect back-reflective electromagnetic radiation from the back-reflecting marker while filtering out electromagnetic radiation that is not back-reflected; and a control system operably coupled to the detector and comprising a processing circuit configured to: track back-reflected electromagnetic radiation from the back-reflective marker compared to a reference back-reflected electromagnetic radiation signature from the back-reflective marker stored in a storage device; and identify differences between the electromagnetic radiation retroreflected by the retroreflective marker and the reference signature of the retroreflected electromagnetic radiation in order to evaluate the state of the amusement park element.

[0005] According to another embodiment of the present invention, a method for observing amusement park elements includes directing electromagnetic radiation to an amusement park element located in an amusement park attraction area using an emitter, the amusement park element having a retroreflective marker; detecting back-reflected electromagnetic radiation from the back-reflecting marker located on the amusement park element while filtering out electromagnetic radiation that is not back-reflected using the detector; tracking retroreflective electromagnetic radiation from the retroreflective marker compared to a reference retroreflective electromagnetic radiation signature from the retroreflective marker stored in the memory using a control system processing circuit in communication with the detector; and identifying differences between the backward reflected electromagnetic radiation by the backward reflective marker and the reference backward reflected electromagnetic radiation signature to judge the state of the amusement park element.

[0006] In accordance with a further embodiment of the present invention, a surveillance system capable of observing elements of an amusement park includes a retroreflective marker; an emitter configured to emit electromagnetic radiation to the retroreflective marker; a detector correlated with electromagnetic radiation back-reflected by the backward-reflecting marker, and configured to detect backward-reflected electromagnetic radiation from the backward-reflecting marker while filtering out electromagnetic radiation that is not backward-reflective; and a control system operatively coupled to the emitter and the detector and having a processing circuit configured to: track back-reflected electromagnetic radiation from the backward-reflective marker compared to a reference back-reflected electromagnetic radiation signature from the backward-reflective marker stored in a storage device; and identify differences between the electromagnetic radiation retroreflected by the retroreflective marker and the reference retroreflective electromagnetic radiation signature, including differences in position or orientation, to judge the state of the amusement park element; wherein the emitter, the detector, and at least part of the control system processing circuitry are integrated or part of the surveillance equipment, the surveillance equipment comprising an electronic total station, a robotic electronic total station, an electronic rangefinder, a theodolite, or any combination of the foregoing.

Brief description of the drawings

[0007] These and other features, aspects and advantages of the present invention will become more apparent upon reading the following detailed description with reference to the accompanying drawings, where like reference numerals represent like parts throughout the drawings, in which:

[0008] FIG. 1 is a schematic diagram of a tracking system using a dynamic signal-to-noise ratio tracker for tracking objects in accordance with an embodiment of the present invention;

[0009] FIG. 2 is a schematic diagram of another tracking system using a dynamic signal-to-noise ratio tracker for tracking objects in accordance with an embodiment of the present invention;

[0010] FIG. 3 is a schematic view of the tracking system of FIG. 1 tracking a retroreflective marker on a person, in accordance with an embodiment of the present invention;

[0011] FIG. 4 is a schematic representation of the analysis performed by the tracking system of FIG. 1, in which the position and movement of a person or object is tracked in space and time, in accordance with an embodiment of the present invention;

[0012] FIG. 5 is a top view of a room with a grid structure of retroreflective markers for tracking the position of people in the room through the tracking system of FIG. 1 according to an embodiment of the present invention;

[0013] FIG. 6 is a vertical sectional view of the tracking system of FIG. 1 tracking a person without tracking the movement of retroreflective markers and without tracking a barrage of retroreflective markers, in accordance with an embodiment of the present invention;

[0014] FIG. 7 is a vertical sectional view of a room with a grid structure of retroreflective markers located on the wall and floor of the room for tracking the position of people and objects in the room through the tracking system of FIG. 1 according to an embodiment of the present invention;

[0015] FIG. 8 illustrates sections of retroreflective markers having different coatings to allow different wavelengths of electromagnetic radiation to be reflected back to the detector of the tracking system of FIG. 1 according to an embodiment of the present invention;

[0016] FIG. 9A-9C illustrate the way in which an object can be tracked in three spatial dimensions by the tracking system of FIG. 1 according to an embodiment of the present invention;

[0017] FIG. 10 is a flowchart illustrating an embodiment of a method for tracking reflection and controlling elements of an amusement park based on the tracked reflection using the tracking system of FIG. 1 according to an embodiment of the present invention;

[0018] FIG. 11 is a perspective view of the tracking system of FIG. 1 used in surveillance equipment to detect changes in elevation or painting of structures, in accordance with an embodiment of the present invention;

[0019] FIG. 12 is a schematic representation of the manner in which the tracking system of FIG. 1 monitors a change in the state of the surface of a structure having a retroreflective marker located below the surface, in accordance with an embodiment of the present invention;

[0020] FIG. 13 is a perspective view of the tracking system of FIG. 1 used to observe an amusement park ride including support structures and a track, detect changes in the structural lift of the ride according to an embodiment of the present invention;

[0021] FIG. 14 is a perspective view of the tracking system of FIG. 1 used to track an amusement park ride vehicle and a flame effect according to an embodiment of the present invention;

[0022] FIG. 15 is a cross-sectional side view of the flame generating device monitored and controlled by the tracking system of FIG. 1 according to an embodiment of the present invention;

[0023] FIG. 16 is a perspective view of the tracking system of FIG. 1 used to track the height of fireworks in accordance with an embodiment of the present invention;

[0024] FIG. 17 is a cross-sectional side view of a pyro-vehicle having an electronic detonator and a retroreflective marker attached to an outer housing to enable the pyro-vehicle to be tracked by the tracking system of FIG. 1 according to an embodiment of the present invention; and

[0025] FIG. 18 is a perspective view of fireworks using robotic powered guns that are controlled by the tracking system of FIG. 1 in accordance with an embodiment of the present invention.

Implementation of the invention

[0026] In general, tracking systems may use a wide variety of environmental inputs to track certain objects. The source of input data may depend on, for example, the type of tracking being performed and the characteristics of the tracking system. For example, tracking systems may use sensors located in the environment to actively generate output received by the main controller. The controller may then process the generated output to determine certain information used for tracking. One example of such tracking may include tracking the movement of an object to which a sensor is attached. This system may also use one or more devices used to fill an area with electromagnetic radiation, a magnetic field, or the like, wherein the electromagnetic radiation or magnetic field is used as a reference against which the sensor output is compared by the controller. It can be appreciated that such active systems, if implemented to track a large number of objects or even people, can be quite expensive to use and require significant CPU resources for the main controller of the tracking system.

[0027] Other tracking systems, such as certain passive tracking systems, may perform tracking without providing a radiation source or the like. For example, certain tracking systems may use one or more cameras to obtain contours or rough skeletal estimates of objects, people, and so on. However, in cases where the background lighting may be intense, such as on a hot and sunny day outside, the accuracy of such a system may be reduced due to varying degrees of noise received by the detectors of the passive tracking system.

[0028] In view of the foregoing, it should now be recognized that traditional tracking systems have certain disadvantages, and that improved tracking systems are required for use in a variety of contexts, including amusement park rides, workplace surveillance, sports, and security systems, in among others. For example, it is now recognized that improved tracking systems can be used to improve operations in a variety of amusement park and other amusement park environments.

[0029] In accordance with one aspect of the present invention, a dynamic signal-to-noise ratio tracking system uses emitted electromagnetic radiation and, in some embodiments, back reflection to provide detection of markers and/or objects within the field of view of the system tracking. The disclosed tracking system may include an emitter configured to emit electromagnetic radiation within the field of view, a sensor configured to detect electromagnetic radiation reflected back from objects within the field of view, and a controller configured to perform various procedures. processing and analysis, including the interpretation of signals from the sensor and the control of automated equipment based on the detected locations of objects or markers. The disclosed tracking system can also be configured to track a plurality of different objects simultaneously (using the same emission and detection elements). In some embodiments, the tracking system tracks the location of retroreflective markers placed on objects to estimate the location of the objects. As used herein, retroreflective markers are reflective markers designed to retroreflect electromagnetic radiation approximately back in the direction from which the electromagnetic radiation is emitted. More specifically, the retroreflective markers used in accordance with the present invention, when illuminated, reflect electromagnetic radiation back to the radiation source in a narrow cone. In contrast, certain other reflective materials, such as shiny materials, may be subject to diffuse reflection, in which electromagnetic radiation is reflected in many directions. Also as an add-on, mirrors that also reflect electromagnetic radiation are typically not subject to backward reflection. Conversely, mirrors undergo specular reflection, in which the angle of electromagnetic radiation (for example, light such as infrared, ultraviolet, visible, or radio waves, etc.) incident on the mirror is reflected at an equal but opposite angle (at a great distance from the source). radiation).

[0030] The retroreflective materials used in accordance with the embodiments set forth below can be readily obtained from a number of commercial sources. One example includes a retroreflective tape that can be installed in a number of different objects (eg, surroundings, garments, toys). Due to the way that back reflection occurs using such markers in combination with the detectors 16 used in accordance with the present invention, the back reflection markers may not be washed out by the sun or even in the presence of other emitters that emit electromagnetic radiation with wavelengths , which coincide with the wavelengths of interest. Accordingly, the disclosed tracking system may be more reliable, particularly in outdoor environments and in the presence of other sources of electromagnetic radiation, compared to existing optical tracking systems.

[0031] Although the present invention is applicable to a number of different contexts, the current disclosed embodiments are directed, among other things, to various aspects related to tracking changes in certain structures (e.g., building, pillars) in an amusement park and, in some cases, to control the equipment of the amusement park (for example, automated equipment) based on information obtained from such a tracking system with a dynamic signal-to-noise ratio. In fact, it is now recognized that through the use of the disclosed tracking systems, reliable and efficient operations can be carried out in the amusement park, even if there are a certain number of moving objects, guests, employees, sounds, lights, etc., in the amusement park, which may otherwise create high levels of noise for other tracking systems, in particular other optical tracking systems that do not use retroreflective markers in the manner disclosed herein.

[0032] In certain aspects of the present invention, an amusement park control system (e.g., a control system associated with a particular area of an amusement park, such as a ride) may use information obtained through a dynamic signal-to-noise ratio tracking system, to monitor and evaluate information related to people, machines, vehicles (e.g., guest vehicles, company vehicles) and similar items in the area to provide information that may be useful for more efficient operations at the amusement park. For example, the information may be used to determine whether certain automated processes may be initiated or otherwise allowed to continue. The evaluated information associated with vehicles in the amusement park may include, for example, location, movement, size, or other information associated with automated machines, ride vehicles, etc., in certain areas of the amusement park. As a non-limiting example, the information may be evaluated for tracking people and machines to provide improved interactivity between people and machines, track and control drones, track and control ride vehicles and any presentation effects associated with the ride vehicle, etc. .d.

[0033] Specific aspects of the present invention can be better understood with reference to FIG. 1, which generally illustrates the manner in which a dynamic signal-to-noise ratio tracking system 10 (hereinafter referred to as "tracking system 10") can be integrated with amusement park equipment 12 according to the present embodiments. As illustrated, tracking system 10 includes an emitter 14 (which may be all or part of an emission subsystem having one or more emission devices and associated control circuitry) configured to emit electromagnetic radiation of one or more wavelengths (e.g., light , for example, infrared, ultraviolet, visible, or radio waves, etc.) in a general direction. The tracking system 10 also includes a detector 16 (which may be all or part of a detection subsystem having one or more sensors, cameras, etc. and an associated control circuit) configured to detect electromagnetic radiation reflected by the radiation, as detailed below.

[0034] In order to control the operations of the emitter 14 and the detector 16 (radiation subsystem and detection subsystem) and perform various signal processing procedures resulting from the process of emission, reflection and detection, the tracking system 10 also includes a control module 18 connected in operation with emitter 14 and detector 16. Accordingly, control module 18 may include one or more processors 20 and one or more memories 22, which may be referred to herein generically as "processing circuitry". As a specific, but non-limiting example, one or more processors 20 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 of the foregoing. In addition, one or more storage devices 22 may include volatile storage, such as random access memory (RAM), and/or non-volatile storage, such as read only memory (ROM), optical disk drives, hard disk drives, disks or semiconductor drives. In some embodiments, control module 18 may form at least part of a control system configured to coordinate the operation of various amusement park elements including equipment 12. As described below, such an integrated system may be referred to as an amusement park attraction control system.

[0035] The tracking system 10 is particularly capable of detecting the position of an illuminated component, such as a retroreflective marker 24 having properly correlated retroreflective material with respect to the mesh, structure, emitter, stationary or moving surroundings, and etc. In some embodiments, the tracking system 10 is designed to use relative positioning to identify whether there is a correlation between one or more such illuminated components and a particular action to be performed by the amusement park equipment 12, such as initiating a presentation effect, sending a vehicle for skiing, closing gates, synchronization of security cameras with movement, etc. Generally speaking, the action may include the control of the movement of machines, the formation or adaptation of images, and similar processes.

[0036] As illustrated, a retroreflective marker 24 is located on an object 26, which may correspond to any number of static or dynamic elements. For example, object 26 may represent the boundary elements of an amusement park attraction such as a floor, wall, gate, or the like, or may represent an item carried by a guest, park employee, or similar object. In fact, as discussed below, in an amusement park area, a plurality of such retroreflective markers 24 may be present, and the tracking system 10 may detect reflection from some or all of the markers 24 and may perform various analyzes based on this detection.

[0037] Referring now to the operation of the tracking system 10, the emitter 14 is operable to emit electromagnetic radiation, which is represented by the expanding electromagnetic radiation beam 28 by way of illustration, to selectively illuminate, flood, or fill the detection area 30 with electromagnetic radiation. The electromagnetic radiation beam 28 will generally represent any form of electromagnetic radiation that can be used in accordance with the present embodiments, such as forms of light (e.g., infrared, visible, ultraviolet) and/or other frequency bands of the electromagnetic spectrum (e.g., radio waves, etc.). However, it is now also recognized that, in particular embodiments, it may be desirable to use certain frequency bands of the electromagnetic spectrum, depending on various factors. For example, in one embodiment, it may be desirable to use forms of electromagnetic radiation that are not visible to the human eye or are not within the range of human hearing so that the electromagnetic radiation used for tracking does not distract guests from their experience. In addition, it is now also recognized that certain forms of electromagnetic radiation, such as certain wavelengths of light (e.g. infrared) may be more desirable than others depending on the particular environment (e.g. whether the environment is "dark"). or whether people are expected to cross the path of the beam). On the other hand, the detection area 30 may correspond to all or part of an amusement park attraction area, such as a theatrical performance, a riding vehicle boarding area, a waiting area outside a ride or performance entrance, and so on.

[0038] Electromagnetic beam 28, in particular embodiments, may represent a plurality of light beams (electromagnetic radiation beams) emitted from other sources (the entire portion of the radiation subsystem). Further, in some embodiments, emitter 14 is configured to emit a beam of electromagnetic radiation 28 at a frequency that matches the material of the retroreflective marker 24 (e.g., may be reflected by the retroreflective elements of the marker 24). For example, the retroreflective marker 24 may include a coating of a retroreflective material disposed on the body of the object 26 or a solid piece of material bonded to the body of the object 26. For a more specific, but non-limiting example, a retroreflective the material may include spherical and/or prismatic reflective elements that are incorporated into the reflective material to allow backward reflection to occur. On the other hand, in particular embodiments, a plurality of such retroreflective markers 24 may be present and may be placed in a specific structure stored in the memory 22 to enable subsequent processing, analysis, and control by the control module 18 (for example, control systems).

[0039] The retroreflective marker 24 can reflect most of the electromagnetic radiation (eg, infrared, ultraviolet, visible wavelengths or radio waves, etc.) incident from the electromagnetic radiation beam 28 back to the detector 16 within a relatively well-defined cone having a central axis with an angle substantially equal to the angle of incidence. This reflection facilitates the identification of the location of the retroreflective marker 24 by the system 10 and its correlation with various information stored in the memory 22 (eg, structures, possible locations). This location information (derived from the reflected electromagnetic radiation) can then be used by the control module 18 to perform various analysis procedures and/or control procedures, such as determining whether to initiate or otherwise control the amusement park equipment 12.

[0040] In particular, in operation, the detector 16 of the system 10 may be operable to detect a beam 28 of electromagnetic radiation retroreflected from the retroreflective marker 24 and transmit data associated with the detection to the control module 18 via lines 31 connections for processing. Detector 16 may be operable to specifically identify marker 24 based on certain designated wavelengths of emitted and reflected electromagnetic radiation, and thereby avoid problems with false detections. For example, detector 16 may specifically be configured to detect certain wavelengths of electromagnetic radiation (eg, corresponding to wavelengths emitted by emitter 14) using physical electromagnetic radiation filters, signal filters, and the like. In addition, the detector 16 may use a particular arrangement of optical detection elements and electromagnetic radiation filters to substantially only capture backward reflected electromagnetic radiation.

[0041] For example, detector 16 may be configured to detect wavelengths of electromagnetic radiation back-reflected by back-reflecting markers 24 while filtering wavelengths of electromagnetic radiation not back-reflected by markers 24 including those of interest. wavelengths. In this way, the detector 16 can be configured, in particular, to detect (eg, capture) back-reflected electromagnetic radiation without detecting (eg, capturing) electromagnetic radiation that is not back-reflected. In one embodiment, detector 16 may use the directivity associated with back reflection to perform this selective filtering. Accordingly, while detector 16 receives electromagnetic radiation from a variety of sources (including false reflections as well as ambient electromagnetic radiation), detector 16 is particularly configured to filter out all or substantially all false reflections while maintaining all or substantially all of the intended signals. Thus, the signal-to-noise ratio of the signals actually processed by the detector 16 and the control module 18 is very high regardless of the signal-to-noise ratio that occurs for the electromagnetic frequency bands of interest outside the detector 16.

[0042] For example, detector 16 may receive retroreflective electromagnetic radiation (eg, from retroreflective markers 24) and ambient electromagnetic radiation from an area (eg, a guest attraction area). Ambient electromagnetic radiation may be filtered, while backward reflected electromagnetic radiation, which is directional, may not be filtered (eg, may bypass the filter). Thus, in particular embodiments, the "image" generated by detector 16 may include a substantially dark (eg, black or blank) background signal with substantially only back-reflected contrast-forming electromagnetic radiation.

[0043] In accordance with specific embodiments, the backward reflected electromagnetic radiation may include different wavelengths that are distinguishable from each other. In one embodiment, the filters of detector 16 may be of optical quality and may be positioned in the detector such that detector 16's optical detection devices substantially only receive electromagnetic wavelengths reflected back by retroreflective markers 24 (or other reflective in the reverse direction of the elements), as well as any required background wavelengths (which may provide background or other landscape information). To form signals from the received electromagnetic radiation, as an example, the detector 16 may be a camera having a plurality of electromagnetic radiation capture elements (for example, charge-coupled devices (CCD) and/or sensors based on a complementary structure "metal-oxide-semiconductor" (CMOS) corresponding to the pixels). In one exemplary embodiment, detector 16 may be an Amp® High Dynamic Range (HDR) camera system available from Contrast Optical Design and Engineering, Inc., Albuquerque, NM.

[0044] Since the back reflection by the back reflection markers 24 is such that the cone of reflected electromagnetic radiation is incident on the detector 16, the control module 18 can in turn correlate the center of the cone, in which the reflected electromagnetic radiation is most intense, with a point reflection source. Based on this correlation, control module 18 may identify and track the location of this point source, or may identify and track the reflection pattern through a plurality of such retroreflective markers 24.

[0045] For example, when control module 18 receives data from detector 16, control module 18 may use known visual boundaries or a set orientation of detector 16 to identify a location (eg, coordinates) corresponding to a detected retroreflective marker 24. When a plurality of stationary retroreflective markers 24 is present, control module 18 may store known positions (eg, locations) of retroreflective markers 24 so as to keep track of the reflection pattern. By monitoring the reflection pattern, the control module 18 can identify blocking (obstruction) of certain retroreflective markers 24 by various moving objects, guests, employees, etc. It should also be noted that the bases for these comparisons can be updated based on, for example, how long a particular retroreflective marker 24 has been located and used at its location. For example, a stored reflection pattern associated with one of the markers 24 may be periodically updated during a calibration step that includes a period of time during which objects or people are not expected to pass marker 24. Such recalibrations may be performed periodically such that a marker that has been used for an extended period of time and has lost its retroreflective capability is not used by mistake for a detected barrage event.

[0046] In other embodiments, in addition to or instead of tracking one or more retroreflective markers 24, the tracking system 10 may be configured to detect and track various other objects located in the detection area 30. Such objects 32 may include, but are not limited to, ride vehicles, people (eg, guests, employees), and other mobile park equipment. For example, detector 16 of system 10 may be operable to detect electromagnetic beam 28 bouncing off object 32 (without retroreflective markers 24) and transmit data associated with that detection to control module 18. Thus, detector 16 can detect object 32 entirely based on the light scattering or specular reflection of electromagnetic energy from object 32. In some embodiments, object 32 can be coated with a particular coating that reflects electromagnetic radiation beam 28 in a detectable and predetermined manner. Accordingly, when the control module 18 receives data from the detector 16, the control module 18 may determine that the coating associated with the object 32 reflects electromagnetic radiation, and may also determine the source of the reflection in order to identify the location of the object 32.

[0047] Regardless of whether the retroreflective markers 24 are stationary or movable, the process of emitting a beam of electromagnetic radiation 28, reading the reflected electromagnetic radiation from the retroreflective markers 24 (or objects 32 without/substantially without retroreflective material ) and locating the retroreflective marker 24 or the object 32 may be performed by the control module 18 many times in a short period. This process may be performed at various intervals, with the process being initiated at predetermined times, or may be performed substantially continuously such that essentially as soon as the process terminates, it is re-initiated. In embodiments where the retroreflective markers 24 are stationary and the control module 18 performs retroreflective pattern tracking to identify marker blocking, the process may be performed at intervals to obtain one retroreflective pattern in every interval. It can be considered to represent a single frame having a reflection structure corresponding to the structure of locked and unlocked retroreflective markers 24.

[0048] On the other hand, such procedures may be substantially continuous to facilitate identification of the path and/or trajectory along which the retroreflecting marker 24 is moving. The marker 24 moving in the detection region 30 must be detected during a particular time frame. or just in a continuous sequence. Here, the reflection structure must be formed and identified over a period of time.

[0049] In accordance with the embodiments set forth above, detector 16 and control module 18 may manage a variety of different time frames depending on the tracking to be performed and the expected movement of the tracked object through space and time. As an example, detector 16 and control module 18 may work together to complete all logic processes (e.g., analytic and control signal updates, signal processing) in the time interval between detector 16 capture events. Such processing rates may provide monitoring, monitoring, and control. essentially in real time, if applicable. As a non-limiting example, detector capture events can be from about 1/60 second to about 1/30 second, thereby generating 30 to 60 frames per second. Detector 16 and control module 18 may be operable to receive, update, and process signals between acquisition of each frame. However, any interval between capture events may be used in accordance with particular embodiments.

[0050] When a specific back reflection pattern is detected, a determination can be made by the control module 18 as to whether the pattern is correlated with the stored pattern identified by the control module 18 and corresponding to the specific action to be performed by the amusement park equipment 12. For example, control module 18 may compare the position, path, or path of retroreflective marker 24 with stored positions, paths, or paths to determine an appropriate control for equipment 12. Additionally or alternatively, as described in more detail below, control module 18 may determine whether a particular pattern obtained at a particular time is correlated with a stored pattern associated with a particular action to be performed by the amusement park equipment 12. Also, optionally, the control module 18 may determine whether a set of particular structures received at a particular time is correlated with a change in the stored structure associated with a particular action to be performed by the amusement park equipment 12.

[0051] Although the control module 18 may cause certain actions in the amusement park to be automatically performed in the manner set forth above, it should be noted that an analysis similar to the analysis mentioned above can also be applied to preventing certain actions (for example, when the park equipment 12 blocks the action or blocked from performing an action). For example, in cases where an automatic sending of a vehicle for riding may be performed, the control module 18 may stop the automatic sending based on the tracking of a change in the retroreflective markers 24, or may even prevent them from being sent by the rolling operator until the additional measures (for example, additional confirmation that the vehicle for riding is allowed to start moving). This type of control can also be applied to other amusement park equipment. For example, initiation of flame effects, fireworks, or similar presentation effects may be blocked, terminated, or reduced in intensity due to intervention by control module 18 as a result of specific structure definitions as described herein.

[0052] In general, after describing the configuration of the system 10, it should be noted that the layout of the emitter 14, the detector 16, the control module 18, and other elements may vary based on specialized considerations and the way that the control module 18 makes estimates based on electromagnetic radiation from reflective in the reverse direction of the markers 24. In the embodiment of the tracking system 10 illustrated in FIG. 1, emitter 14 and sensor or detector 16 are integral so that the operating plane associated with detector 16 substantially coincides with the operating plane associated with emitter 14. Thus, detector 16 is located in a position substantially identical to that of emitter 14. which may be required due to the reflective reflectance of the markers 24. However, the present invention is not necessarily limited to this configuration. For example, as noted above, backward reflection may be associated with a reflection cone, with the greatest intensity being in the middle of the reflected cone. Accordingly, detector 16 may be located in a region in which the reflected cone of retroreflective markers is less intense than at the center, but still detectable by detector 16.

[0053] As a non-limiting example, in some embodiments, emitter 14 and detector 16 may be concentric. However, the detector 16 (eg, an infrared camera) may be located at a different location relative to the emitter 14, which may include an infrared lamp, one or more diode emitters, or a similar source. As illustrated in FIG. 2, emitter 14 and detector 16 are separate and located at different locations on the surrounding element 40 of the amusement park amusement area (eg, wall or ceiling). In particular, the emitter 14 of FIG. 2 is located outside the display window 42 containing the other components of the system 10. The detector 16 of FIG. 2 is located at a great distance from the emitter 14, but still oriented to detect electromagnetic radiation reflected from the retroreflective marker 24 and emanating from the emitter 14.

[0054] By way of illustration, the arrows 44, 46 represent a light beam (electromagnetic radiation beam) emitted from the emitter 14 (arrow 44) into the detection area 30, reflected back by the retroreflective marker 24 on the object 26 (arrow 46 ) and detected by detector 16. The light beam represented by arrow 44 is only one of the many instances of electromagnetic radiation (light beams) that fill or otherwise selectively illuminate detection area 30 from emitter 14. It should be noted that yet another another embodiment may use different layouts of system 10 components and implementations in different environments in accordance with the present invention.

[0055] Now, after explaining the general operation of the tracking system 10 in order to detect the position of retroreflective markers 24 and/or objects 32, as illustrated in FIG. 1, certain applications of the tracking system 10 are described in more detail below. For example, it may be desirable to track the locations of people in a particular area using the disclosed tracking systems. This can be useful, for example, for managing lanes in a vehicle boarding area for riding, controlling access to different areas, determining the appropriate cases when presentation effects can be triggered, determining the appropriate cases when certain automated machinery can be moved, and can be useful for assisting with live performances (for example, for blocking actors on stage). Thus, performances are expected to require actors to stand in specific positions on the stage at specific times. To ensure that the actors are in the correct positions at the right time, the tracking system 10 may be mounted above the stage and used to track the positions and/or movement of all the actors on the stage. The feedback from the tracking system 10 can be used to evaluate how well the actors occupy the required points on the stage.

[0056] In addition to blocking on stage, the tracking system 10 can be used in contexts that involve tracking and/or evaluating customers in a store or other commercial setting. Thus, the store may be equipped with the disclosed tracking systems 10 to determine where guests spend time in the store. Instead of triggering a presentation effect, such tracking systems 10 can be used to track the flow of people in a store and manage the availability of certain items as a result, manage the flow of people moving, and so on. For example, the information collected through the disclosed tracking systems 10 may be used to identify and evaluate which configurations or displays in a store are most attractive, determine which items for sale are most popular, or determine which areas of the store , if any, are too crowded. This information may be analyzed and used to improve store layout, product development, and people management, among other things.

[0057] It should be noted that other applications may exist for tracking the positions of people, objects, machines, and so on. in an area different from the areas described above. The current disclosed tracking systems 10 may be configured to identify and/or track the position and movement of people and/or objects in the detection area 30. The tracking system 10 can perform this tracking in a variety of different ways, as introduced above and explained in more detail below. It should be noted that the tracking system 10 is configured to detect the position of one or more people, one or more objects 32, or a combination of different objects, simultaneously in the same detection area 30 using a single emitter 14, detector 16 and control module 18. However, the use of a plurality of such emitters 14, detectors 16 and control modules 18 is also within the scope of the present invention. Accordingly, one or more emitters 14 and one or more detectors 16 may be provided in the detection area 30 . Considerations such as the type of tracking to be performed, required tracking range, redundancy, etc., may at least in part determine whether multiple emitters and/or detectors are used, or a single emitter and/or detector.

[0058] For example, as noted above, the tracking system 10 may be generally configured to track a target moving in space and time (eg, within a detection area 30 over time). When a single detection device (eg, detector 16) is used, the tracking system 10 can track backward reflected electromagnetic radiation from a given orientation to track a person, an object, and so on. Since the detector 16 has only one perspective, such detection and tracking, in some embodiments, may be limited to performing tracking in only one plane of movement (eg, tracking is performed in two spatial dimensions). Such tracking can be used, by way of example, in cases where the tracked target has a relatively low number of degrees of freedom, such as when movement is limited to a limited path (eg, a track). In one such embodiment, the target has a specific vector orientation.

[0059] On the other hand, when multiple detection devices are used (eg, two or more detectors 16) to track a target in space and time, the tracking system 10 can track back reflected electromagnetic radiation from multiple orientations. With these multiple viewpoints, the tracking system 10 may be able to track targets having multiple degrees of freedom. In other words, the use of multiple detectors can provide both vector orientation and range for a tracked target. This type of tracking may be particularly useful in cases where it may be desirable to allow the tracked target to have unlimited movement in space and time.

[0060] Multiple detectors may also be required for redundancy in tracking. For example, a variety of detection devices applied to scenarios in which the movement of the target is limited (or not) can improve the reliability of the tracking performed by the tracking system 10. The use of redundant detectors 16 also improves tracking accuracy and can help prevent geometric target obstruction through complex geometric surfaces such as winding paths, ledges, crumpled clothing, open doors, etc.

[0061] In accordance with one aspect of the present invention, tracking system 10 can track the relative positions of multiple targets (eg, people, objects, vehicles) located in detection area 30 using retroreflective markers 24. As illustrated in FIG. 3, retroreflective markers 24 may be located on person 70. Additionally or alternatively, marker 24 may be located on a machine or other object (eg, object 26). Accordingly, the technologies disclosed herein for tracking the movement of person 70 in space and time may also be applied to the movement of an object in an amusement park, either in addition to person 70 or as an alternative to person 70. In such embodiments, marker 24 may be located outside the object 26 (for example, the housing), as shown in FIG. one.

[0062] In the illustrated embodiment of FIG. 3, the retroreflective marker 24 is not located on the person's clothing. For example, the retroreflective marker 24 may be applied as a strip of retroreflective tape applied to an armband, ribbon, shirt, personal identification item, or other article. Additionally or alternatively, the retroreflective marker 24 may, in some embodiments, be sewn onto clothing or applied to clothing as a cover. The retroreflective marker 24 may be placed on the clothing of the person 70 in a position that is accessible to the beam 28 of electromagnetic radiation emitted from the emitter 14. As the person 70 moves around the detection area 30 (in the case of the object 32, the object 32 may move through area 30), a beam 28 of electromagnetic radiation is reflected from the retroreflective marker 24 and back to the detector 16. The detector 16 communicates with the control module 18 by sending a signal 72 to the processor 20, this signal 72 indicating the reflected electromagnetic radiation detected through detector 16. The tracking system 10 can interpret this signal 72 to track the position or path of a person 70 (or object 32) moving around a certain area (ie, tracking a person or object in space and time). On the other hand, depending on the number of detectors 16 used, the control module 18 may determine the vector magnitude, orientation, and direction of movement of the person and/or object based on the received back-reflected electromagnetic radiation.

[0063] Tracking a person 70 (which may also represent a moving object) is schematically illustrated in FIG. 4. More specifically, FIG. 4 illustrates a sequence of 80 frames 82 captured by a detector 16 (eg, a camera) over a period of time. As noted above, a plurality of such frames (eg, 30 to 60) may be generated every second in particular embodiments. It should be noted that FIG. 4 may not be an actual representation of the findings generated by the tracking system 10, but is described herein in order to make it easier to understand the tracking and monitoring performed by the control module 18. Frames 82 represent detection area 30 and the position of retroreflective marker 24 in area 30. Alternatively, frames 82 may instead represent blocking of markers in area 30, such as when the grid of markers 24 is obstructed by an object or person.

[0064] As shown, the first frame 82A includes a first instance of a retroreflective marker, designated 24A, having a first position. As sequence 80 progresses through time, the second frame 82B includes a second instance of the retroreflective marker 24B that is offset from the first instance, and so on. (thereby forming the third and fourth instances of the retroreflective marker 24C and 24D). After a certain period of time, the control module 18 generates a sequence 80, and the operation of generating a sequence 80 is generally represented by an arrow 84.

[0065] Sequence 80 may be evaluated by control module 18 in a number of different ways. In accordance with the illustrated embodiment, control module 18 may estimate movement of person 70 or object 32 by estimating marker 24 positions (or blocking certain markers) over time. For example, control module 18 may obtain the vector orientation, range, and direction associated with the movement of the tracked target, depending on the number of detectors 16 used to perform tracking. Thus, control module 18 can be viewed as evaluating composite frame 86 representing the movement of tracked retroreflective marker 24 (or tracked blocking of markers 24) in time within detection region 30 . Thus, the composite frame 86 includes various instances of the retroreflective marker 24 (including 24A, 24B, 24C, 24D) that can be analyzed to determine the total movement of the marker 24 (and thereby the person 70 and /or object 26, depending on the situation).

[0066] As also illustrated in FIG. 4, this observation may be performed with respect to certain surrounding elements 88, which may be attached to the detection area 30 and/or may be associated with reflective materials. The control module 18 can operate not only based on the detected positions of the marker 24, but also based on extrapolated movement (e.g., the projected path of the retroreflective marker 24 through the detection area 30, or the projected positions of the marker grid fence) relative to the surrounding elements 88.

[0067] Another method for tracking one or more people 70 or objects 32 in an area is schematically illustrated in FIG. 5. In particular, FIG. 5 is a top view of a group of people 70 standing in the detection area 30. Although not illustrated, the tracking system 10 may be present directly above this detection area 30 to detect the positions of people 70 (and other objects) present in the detection area 30 (eg, to obtain a top view of the detection area 30). In the illustrated embodiment, retroreflective markers 24 are located in a grid structure 90 on the floor 92 of the detection area 30 (eg, as a cover, tape fragments, or similar attachment method). The retroreflective markers 24 may be placed in any desired pattern (eg, grid, diamond, line, circle, hardcoat, etc.), which may be a regular pattern (eg, repeating) or a random pattern.

[0068] This grid pattern 90 may be stored in memory 22, and portions of grid pattern 90 (eg, individual markers 24) may be correlated to the locations of certain surrounding components and elements of the amusement park (eg, amusement park equipment 12). Thus, the position of each of the markers 24 relative to such elements can be known. Accordingly, when the markers 24 reflect back the electromagnetic beam 28 into the detector 16, the location of the markers 24 that are reflective can be determined and/or tracked by the control module 18.

[0069] As illustrated, when people 70 or objects 32 are placed on top of one or more retroreflective markers 24 on floor 92, obstructed markers cannot reflect emitted electromagnetic radiation back to detector 16 above floor 92. In fact, according to an embodiment , the mesh structure 90 may include retroreflective markers 24 that are spaced apart by a distance that allows detection of people or objects located on the floor 92 (eg, blocking at least one of the retroreflective markers 24). In other words, the distance between the markers 24 can be small enough that objects or people can be positioned on top of at least one of the retroreflective markers 24.

[0070] In operation, the detector 16 can function to detect a beam 28 of electromagnetic radiation back-reflected from the back-reflecting markers 24 that are not covered by people or objects located in the detection area 30. As explained above, the detector 16 may then pass the data associated with this detection to the control module 18 for processing. The control module 18 may compare the detected beam of electromagnetic radiation reflected from the uncovered retroreflective markers 24 (e.g., detected pattern) with the stored positions of the fully uncovered grid pattern 90 (e.g., stored pattern) and/or other known grid patterns resulting from as a result of certain markers 24 being blocked. Based on this comparison, control module 18 can determine which markers 24 are closed to then approximate the locations of people 70 or objects 32 in the plane of floor 92. In fact, the use of a grid located on floor 92 in combination with one detector 16, allows tracking movement in two dimensions. If higher order tracking is required, additional grids and/or additional detectors 16 may be used. In specific embodiments, based on the locations of people 70 or objects 32 in detection area 30, control module 18 may adjust the operation of amusement park equipment 12.

[0071] The process of emitting a beam of electromagnetic radiation 28, reading the reflected electromagnetic radiation from the uncovered retroreflective markers 24 on the floor 92, and determining the location of people 70 can be performed by the control module 18 many times in a short period to identify the sequence of locations of people 70 moving around the floor 92 (to track the movement of the group). In fact, such procedures may be substantially continuous in order to facilitate identification of the path along which people 70 move within the detection area 30 during a particular time frame, or simply in a continuous sequence. When the position or path of one or more people 70 is detected, the control module 18 may further analyze the position or path to determine if any actions should be performed by the equipment 12.

[0072] As detailed above with respect to FIG. 1, the control module 18 can be configured to identify certain objects that are expected to cross the path of the electromagnetic radiation beam 28 in the detection area 30, including objects that are not marked with a retroreflective material. For example, as illustrated in FIG. 6, some embodiments of tracking system 10 may be configured such that control module 18 is able to identify a person 70 (who is also intended to represent object 32) located in detection area 30 without using retroreflective markers 24. Thus Thus, the control module 18 may receive data indicative of the electromagnetic radiation reflected back from the detection area 30, and the control module 18 may compare the digital signature of the detected radiation with one or more possible data signatures stored in the memory 22. Thus, if the electromagnetic signature radiation reflected back to detector 16 matches the signature of person 70 or known object 32 strongly enough that control module 18 can determine that person 70 or object 32 is located in detection area 30. For example, control module 18 can identify "dark spots" or areas where electromagnetic radiation is absorbed rather than reflected in detection area 30. These regions may have geometry that control module 18 may analyze (eg, compare with shapes, sizes, or other features of stored objects or people) to identify presence, location, size, shape, and so on. object (for example, person 70).

[0073] With reference to FIG. 1, 2, 3, and 6, it may be appreciated that the tracking system 10 may be located in multiple locations to obtain different views of the detection area 30. In fact, it should now be recognized that various locations and combinations of locations of one or more tracking systems 10 (or one or more elements of the tracking system 10, such as a plurality of detectors 16) may be required to obtain certain types of information associated with retroreflective markers. 24 and their blocking. For example, in FIG. 1, the tracking system 10, and in particular the detector 16, are positioned in a vertical sectional view of at least an object 26 equipped with a retroreflective marker 24 and an object 32. In FIG. 2, detector 16 is positioned to obtain a top perspective view of a detection area 30 that detects retroreflective markers 24 located on a plurality of surroundings, moving objects, or people. In the embodiments of FIG. 3 and 6, the detector 16 may be positioned to provide a top view of the detection area 30.

[0074] These various views may provide information that may be used by the control module 18 for particular types of analysis and, in particular embodiments, for controls that may be dependent on the particular environment in which they are located. For example, in FIG. 7, the tracking system 10, and in particular the emitter 14 and the detector 16, are positioned in a perspective view of a person 70 (or object 32) in the detection area 30. The detection area 30 includes a floor 92, but also includes a wall 93 on which retroreflective markers 24 are arranged to form a grid pattern 90. Here, a person 70 blocks a subset of markers 24 located on wall 93. A subset of markers 24 cannot be illuminated by emitter 14, cannot reflect electromagnetic radiation back to detector 16, or both because person 70 (also intended to represent the object) is located between the subset of markers 24 and emitter 14 and/or detector sixteen.

[0075] The grid structure 90 on wall 93 may provide information that is not necessarily available when viewed from above, as shown in FIG. 3 and 6. For example, blocking the retroreflective markers 24 allows the control module 18 to determine the height of the person 70, the profile of the person 70, or, in embodiments in which the object 32 is present, the size of the object 32, the profile of the object 32, etc. . Such determinations can be made by the control module 18 in such a way as to assess whether the person 70 meets the height requirement for riding, to assess whether the person 70 is associated with one or more objects 32 (for example, bags, strollers), and can also be used to tracking the movement of a person 70 or an object 32 through the detection area 30 with a greater degree of accuracy than the top view shown in FIG. 3 and 6. Thus, the control module 18 is better able to associate the movement identified by blocking the markers 24 to a specific person 70 through profile determination, person height, and so on. Similarly, control module 18 is better able to track the movement of object 32 through detection area 30 by identifying the geometry of object 32 and linking the identified movement specifically to object 32. In particular embodiments, tracking the height or profile of person 70 may be performed by tracking system 10 in order to allow the control module 18 to provide recommendations to the person 70 based on an analysis of the estimated height, profile of the person, etc. Similar definitions and recommendations may be provided for objects 32 such as vehicles. For example, the control module 18 may analyze the profile of the guests at the entrance to the queue area for skating. The control unit 18 may compare overall size, height, and so on. 70 people with specs to ride to warn people or provide confirmation that they can ride before wasting time in line. Similarly, the control module 18 can analyze the overall size, length, height, and so on. vehicle to provide parking recommendations based on available space. Additionally or alternatively, the control module 18 may analyze the overall size, profile, etc. equipment with automated parts before allowing the equipment to perform a specific task (for example, moving through a crowd of people).

[0076] Structure 90 may also be located on both wall 93 and floor 92. Accordingly, tracking system 10 may be able to receive retroreflective electromagnetic radiation from markers 24 on wall 93 and floor 92, thereby allowing detect blocking of markers and observe movement in three dimensions. In particular, the wall 93 may provide information in the height direction 94, while the floor 92 may provide information in the depth direction 96. The information from the height direction 94 and from the depth direction 96 can be correlated with each other using information from the width direction 98 that is available from top and elevation views.

[0077] In fact, it should now be recognized that if two objects 32 or persons 70 coincide in the width direction 98, they can be at least partially resolved from each other using information obtained from the depth direction 96 . In addition, it should now also be recognized that the use of a plurality of emitters 14 and detectors 16 at different positions (e.g., at different positions in the width direction 98) can allow height and profile information to be resolved when certain information can be lost or not resolved easily when present. only one emitter 14 and detector 16. More specifically, the use of only one emitter 14 and detector 16 may result in loss of certain information if there is a match between objects 32 or people 70 in the width direction 98 (or, more generally, a match in the direction between markers 24 on wall 93 and detector 16). However, embodiments using multiple (e.g., at least two) detectors 16 and/or emitters 14 may cause various retroreflective structures to be formed by markers 24 and observed from detectors 16 and/or emitters 14 located in other perspectives. In fact, since markers 24 are retroreflective, they must reflect electromagnetic radiation back to the electromagnetic radiation source, even when multiple sources emit radiation substantially simultaneously. Thus, the electromagnetic radiation emitted from the first of the emitters 14 from the first perspective must be reflected back to the first of the emitters 14 via the markers 24, while the electromagnetic radiation emitted from the second of the emitters 14 from the second perspective must be reflected in the opposite direction back to the second of the emitters 14 via the markers 24, which allows the formation and monitoring of multiple sets of tracking information by the control module 18.

[0078] It should also now be recognized that the retroreflective markers 24 on wall 93 and floor 92 may be identical or different. In fact, the tracking system 10 may be configured to determine which electromagnetic radiation is reflected from the wall 93, depending on which electromagnetic radiation is reflected from the floor 92, using the directionality of the backward reflected electromagnetic radiation from the wall 93 and the floor 92. In other embodiments, different materials may be used for markers 24 such that, for example, different wavelengths of electromagnetic radiation may be reflected back to emitter 14 and detector 16 via different materials. By way of example, retroreflective markers 24 on floor 92 and wall 93 may have identical retroreflective features, but different layers that act to filter or otherwise absorb portions of emitted electromagnetic radiation such that electromagnetic radiation reflected by retroreflective markers 24 on floor 92 and wall 93 has characteristic and different wavelengths. Because different wavelengths must be reflected back, detector 16 can detect these wavelengths and separate them from ambient electromagnetic radiation that is filtered by the filter elements in detector 16.

[0079] As an aid to illustration, FIG. 8 illustrates cross-sectional perspective views of exemplary retroreflective markers 24 located on floor 92 and wall 93 in detection area 30. The markers 24 on the floor 92 and wall 93 include a reflective layer 96 and a retroreflective material layer 98, which may be the same or different for the floor 92 and wall 93. In the illustrated embodiment, they are identical. In operation, the electromagnetic radiation emitted by the emitter 14 may pass through the transmissive coating 99 before striking the layer 98 of the retroreflective material. Accordingly, the transmissive coating 99 may be used to control the wavelengths of electromagnetic radiation that are reflected back by the markers. In FIG. 8, the markers 24 on the floor 92 include a first transmissive coating 99A that differs from the second transmissive coating 99B in the markers 24 on the wall 93. In particular embodiments, different optical properties between the first and second transmissive coatings 99A, 99B may result in reflection different electromagnetic bandwidths through markers 24 on the floor 92 and markers 24 on the wall 93. Although presented in the context of location on the floor 92 and wall 93, it should be noted that markers 24 having different optical properties can be used on many different elements in the park entertainment, for example, on people and surroundings, people and mobile equipment, etc., to facilitate separation for processing and observation by the control unit 18.

[0080] Any technology or combination of technologies set forth above may be used to track a single object or person, or multiple objects or people. In fact, it is now recognized that the combination of multiple retroreflective marker grids (e.g., on the floor 92 and wall 93 as discussed above) or the combination of one or more retroreflective marker grids and one or more tracked retroreflective marker grids markers 24 attached to a movable object or person can be used to provide 3D tracking even when only one detector 16 is used. may allow the tracking system 10 to track both position and orientation.

[0081] In this regard, FIG. 9A illustrates an embodiment of object 26 having a plurality of retroreflective markers 24 located on different surfaces of object 26. In particular, in the illustrated embodiment, retroreflective markers 24 are located at three different points on object 26 corresponding to three orthogonal directions ( for example, the X, Y, and Z axes) of the object 26. However, it should be noted that other placements of the plurality of retroreflective markers 24 may be used in other embodiments. In addition, the tracking illustrated in FIG. 9A may be performed as generally illustrated, or may also use a grid of retroreflective markers 24 as shown in FIG. 7.

[0082] As noted above, tracking system 10 may include a plurality of detectors 16 configured to read electromagnetic radiation that is reflected back from object 26, for example. Each of the retroreflective markers 24 located on object 26 may reflect in the opposite direction the emitted beam 28 of electromagnetic radiation at a specific, given frequency of the electromagnetic spectrum of the beam 28 of electromagnetic radiation. Thus, the retroreflective markers 24 may retroreflect identical or different portions of the electromagnetic spectrum, as generally discussed above with respect to FIG. eight.

[0083] The control module 18 is configured to detect and discriminate the electromagnetic radiation reflected at these specific frequencies and thereby track the movement of each of the individual retroreflective markers 24. In particular, the control module 18 may analyze the detected locations of the individual retroreflective markers in reverse direction of the markers 24 to track the roll (eg, rotation about the y-axis), pitch (eg, rotation about the x-axis), and yaw (eg, rotation about the z-axis) of the object 26. Thus, instead of just determining the location of object 26 in place relative to a particular coordinate system (eg, defined by detection area 30 or detector 16), control module 18 can determine the orientation of object 26 in the coordinate system, which allows control module 18 to perform improved tracking and analysis of the movement of object 26 in spacious and time through the detection area 30. For example, control module 18 may perform predictive analysis to estimate the future position of object 26 in detection area 30, which may provide improved control of object 26 movement (eg, avoid collisions, stick to a specific path through the area).

[0084] In particular embodiments, for example, when the object 26 is a motorized object, the tracking system 10 may track the position and orientation of the object 26 (e.g., a riding vehicle, machine gun, drone) and control the object 26 in this manner. that it advances along the path in a given way. The control module 18 may additionally or alternatively compare the results with the expected position and orientation of the object 26, for example, to determine if the object 26 needs to be controlled to regulate its operation and/or to determine if the object 26 is operating properly or needs some maintenance. In addition, the estimated position and orientation of the object 26, as determined via the tracking system 10, can be used to trigger actions (including preventing certain actions) by other amusement park equipment 12 (eg, performance effects). As one example, the object 26 may be a ride vehicle and the amusement park equipment 12 may be a performance effect. In this example, it may be desirable to trigger the amusement park equipment 12 only when the object 26 is in the expected position and/or orientation.

[0085] Continuing with the manner in which tracking in three spatial dimensions can be performed, FIG. 9B illustrates an example of an object having a first marker 24A, a second marker 24B, and a third marker 24C located at similar positions as shown in FIG. 9A. However, from the perspective of one of the detectors 16, the detector 16 can see a two-dimensional representation of the object 16 and the markers 24A, 24B, 24C. From this first perspective (eg, a top or bottom view), control module 18 may determine that the first and second markers 24A, 24B are separated by a first observation distance d1, the first and third markers 24A, 24C are separated by a second observation distance d2, and the second and third markers 24B, 24C are separated by a third observed distance d3. The control module 18 may compare these distances with known or calibrated values to estimate the orientation of the object 26 in three spatial dimensions.

[0086] Turning to FIG. 9C, as the object 26 rotates, the detector 16 (and thus the control module 18) can detect that the apparent shape of the object 26 is different. However, the control module 18 may also determine that the first and second markers 24A, 24B are separated by the adjusted first observed distance d1', the first and third markers 24A, 24C are separated by the adjusted second observed distance d2', and the second and third markers 24B, 24C are separated by an adjusted third observed distance d3'. The control module 18 may determine the difference between the distances detected in the orientation in FIG. 9B and the distances found in the orientation of FIG. 9C to determine how the orientation of the object 26 has changed, to then determine the orientation of the object 26. Additionally or alternatively, the control module 18 may compare the adjusted observed distances d1', d2', d3' resulting from the rotation of the object 26 with the stored values. to estimate the orientation of the object 26 in three spatial dimensions or to further refine the update of the orientation determined based on the change between distances in FIG. 9B and 9C.

[0087] As discussed above, the present embodiments are directed to using the disclosed tracking system 10 to track objects and/or people in an amusement park environment, among other things. As a result of this tracking, control module 18 may, in some embodiments, cause certain automated functions to be executed in various amusement park subsystems. Accordingly, after describing the general operation of the disclosed tracking system 10, more specific embodiments of tracking and control operations are provided below to facilitate a better understanding of specific aspects of the present invention.

[0088] Turning now to FIG. 10, an embodiment of the method 100 for observing changes in reflected electromagnetic radiation to track the movement of a target and control the amusement park equipment as a result of this observation is illustrated as a flowchart of the method. In particular, method 100 includes using one or more emitters 14 (e.g., radiation subsystem) to fill (step 102) detection area 30 with electromagnetic radiation (e.g., electromagnetic radiation beam 28) using the radiation subsystem. For example, control module 18 may cause one or more emitters 14 to intermittently or substantially continuously fill detection area 30 with emitted electromagnetic radiation. On the other hand, the electromagnetic radiation may be of any suitable wavelength, which may be reflected back by the back reflecting markers 24. This includes, but is not limited to, ultraviolet, infrared, and visible wavelengths of the electromagnetic spectrum. It should be appreciated that different emitters 14 and, in some embodiments, different markers 24 may use different wavelengths of electromagnetic radiation in order to make it easier to distinguish between different elements in region 30.

[0089] After filling the detection area 30 with electromagnetic radiation in accordance with the actions generally represented by step 102, the method 100 proceeds to detect (step 104) electromagnetic radiation that is reflected from one or more elements in the detection area 30 (for example, reflective backwards markers 24). The detection may be performed by one or more detectors 16, which may be positioned relative to the emitter 14 as generally described above with respect to FIG. 1 and 2. As described above and detailed below, the elements that perform the detection may be any suitable element capable of, and specifically configured to, capture back reflected electromagnetic radiation and cause correlation of the captured backward reflected electromagnetic radiation with a region detector 16 such that information transmitted from detector 16 to control module 18 stores position information as to which marker 24 reflects electromagnetic radiation into detector 16. As one specific, but non-limiting example, one or more detectors 16 ( present as a detection subsystem) may include CCDs in an optical chamber or a similar element.

[0090] As described above, during operation of the tracking system 10 and while people 70 and/or objects 26, 32 are present in the detection area 30, changes in reflected electromagnetic radiation can be expected to occur. These changes can be tracked (step 106) using a combination of one or more detectors 16 and procedures performed by the processing circuit of the control module 18. As one example, tracking changes in reflected electromagnetic radiation, in accordance with the actions generally represented by step 106, may include observing changes in reflected structures from the grid over a period of time, observing changes in spectral signatures potentially caused by certain absorbing and/or diffuse or reflective reflective elements present in the detection area 30, or by observing certain movable retroreflective elements. As described below, the control module 18 may be configured to perform certain types of reflection change tracking depending on the nature of the control to be performed in a particular amusement park environment.

[0091] Essentially at the same time or shortly after tracking changes in the reflected electromagnetic radiation in accordance with the actions generally presented by step 106, certain information can be evaluated (step 108) as a result of these changes by the control module 18. In accordance with one aspect of the present invention, the evaluated information may include information associated with one or more people (e.g., amusement park guests, amusement park employees) to enable the control module 18 to track the movement and location of various people and/or perform determinations related to whether a person is properly positioned in relation to certain elements of the amusement park. In accordance with another aspect of the present invention, information estimated by control module 18 may include information associated with objects 26, 32, which may be surrounding objects, moving objects, amusement park equipment 12, or any other device, object, or another element present in the detection area 30 . Additional details regarding the manner in which the information may be evaluated are described in more detail below with reference to specific examples of amusement park equipment controlled at least in part by control module 18 .

[0092] As illustrated, method 100 also includes controlling (block 110) the amusement park equipment based on information (e.g., tracked and analyzed movement of people and/or objects) evaluated in accordance with actions generally represented by block 108 It should be noted that this control can be performed in conjunction with parallel monitoring and evaluation to allow control module 18 to perform many of the steps set forth in method 100 on a substantially continuous basis and in real time (e.g., on the order of the capture rate of detector 16) , properly. In addition, the amusement park equipment controlled in accordance with the acts generally represented by step 110 may include automated equipment such as ride vehicles, entry gates, kiosks, information displays, or any other amusement park driven device. . As another example, control module 18 may control certain presentation effects, such as ignition of a flame or fireworks, as a result of tracking and evaluation performed in accordance with method 100. Additional details related to certain of these specific examples are described in more detail below.

[0093] In accordance with a more specific aspect of the present invention, the present embodiments relate to tracking retroreflective markers located on certain surrounding and functional elements of an amusement park amusement area using surveillance equipment. For example, in specific embodiments, fleet equipment may be monitored for wear and tear due to mechanical and/or environmental influences. Using this information, control module 18 may provide information related to the current status of particular equipment and, in some embodiments, may provide recommendations for maintenance or other procedures. More specifically, the amusement park equipment 12 may include various systems configured to provide this information to ride operators, facility maintenance engineers, and the like. For example, amusement park equipment 12 that can be controlled to observe certain elements of the amusement park may include displays, reporting elements, and the like.

[0094] In the specific context of an amusement park, the tracking system 10 may be located in the monitoring equipment 140, as illustrated in FIG. 11 to determine a plurality of maintenance related information related to roller coasters or similar rides and/or related to technical facilities housing certain elements of amusement park rides. In the illustrated embodiment, the observation equipment 140 outputs a relatively long range electromagnetic beam 28 to collect data representing many different components within its field of view simultaneously. These components may include, for example, supports 142 (eg, a ride post) of roller coasters 144, building structures 146, and any other structures that may be within the field of view of tracking system 10 in surveillance equipment 140. Any number of these components may be equipped with one or more retroreflective markers 24.

[0095] In the illustrated embodiment, certain retroreflective markers 24 are located on each of the pillars 142 and the building structure 146. Surveillance equipment 140 can view this sequence of retroreflective markers 24 almost instantly, since they are all within the field of view of tracking system 10. As described in more detail below, by evaluating the detected locations (separately and in reference to each other) of the retroreflective markers 24, it may be possible to determine if any of these pillars 142 or the building structure 146 are sagging over time. In addition, since the surveillance equipment 140 can read multiple such retroreflective markers 24 simultaneously via the tracking system 10, it can reduce the amount of time it takes to observe an area.

[0096] In accordance with a further embodiment, the tracking system 10 in the surveillance equipment 140 may be used to determine if there is a spectral shift in time in the building structures 146 or other structures that are painted. In particular, the observation equipment 140 may be used initially when the building structure 146 has just been painted to determine the amount of electromagnetic radiation reflected from the newly painted building structure 146. Subsequently, observation equipment 140 can be used to detect electromagnetic radiation reflected from building structure 146, compare this reflected signature with previously stored data, and determine whether a spectral shift (e.g., paint fading) is occurring, and whether it should be. whether to be repainted construction 146 building.

[0097] As also illustrated, monitoring equipment 140, and in particular tracking system 10, in particular embodiments, may communicate with diagnostic system 150. In yet further embodiments, diagnostic system 150 may be integrated as part of monitoring equipment 140 and/or implanted in tracking system 10 (eg, as part of control module 18). As one example, tracking system 10 may receive tracking data associated with retroreflective markers 24 and/or other optically detectable elements of building 146 and/or ride 144. Tracking system 10 may communicate this information to diagnostic system 150, which may include processing circuitry 152, such as one or more processors configured to execute diagnostic procedures stored in system memory 150. The memory may also include legacy information associated with previous analysis performed on building 146 and ride 144 so that the status of these elements can be tracked and compared over time.

[0098] The diagnostic system 150 may also include an information system 154 in communication with the monitoring equipment 140 and the processing circuit 152. Information system 154 may include various user interface elements 156, such as one or more displays 158 and/or one or more reporting elements 160. The user interface elements 156 may be configured to provide users (eg, operators, facility engineers) perceptual cues associated with the estimated status of observed elements and/or provide traceable data to users to allow users to analyze the data directly. However, it is not outside the scope of the present invention if the tracking system 10, the monitoring equipment 140, and/or the diagnostic system 150 analyzes and interprets the tracked data to provide users with an indication as to whether the tracked amusement park item needs maintenance. .

[0099] Another example of the manner in which surveillance system 140 can be used in the context of evaluating paint color and/or surface integrity of building 146 is illustrated in FIG. 12. In particular, FIG. 12 illustrates part 170 of building 146 at various points in time. Various points in time of building 146 can be considered as representing, by way of example, the effect of time as well as environmental influences on building 146. FIG. 12, as illustrated, includes part 170 at the first time of building 146, which appears as 146A.

[00100] As shown at the first time for the building 146A, the portion 170 includes one of the retroreflective markers 24 located under the surface cover 172. At the first time, they are presented as part 170A and surface cover 172A. Surface coating 172 may include, by way of example, a coating (eg, paint) or cladding (eg, brick, plaster). As shown, over time and exposure to various environmental conditions (e.g., weather, sunlight), the first surface coating 172A begins to fade, thin, crack, peel, or otherwise wear down to the second surface coating 172B (a worn version of the first surface coating 172A) , which exposes portion 174 of the retroreflective marker 24.

[00101] The surveillance equipment 140, and in particular the tracking system 10, can recognize this change by determining that the retroreflective marker 24 is capable of receiving and reflecting back the electromagnetic radiation emitted by the emitter 14 of the tracking system 10. The diagnostic system 150 can be configured to determine the extent to which the retroreflective marker 24 becomes exposed, for example, by monitoring the intensity of the retroreflected electromagnetic radiation and comparing the intensity with the stored intensity, pattern, etc. The diagnostic system 150 can also use the degree to which the retroreflective marker 24 becomes exposed to influence in order to estimate the relative wear of the surface coating 172 .

[00102] As also illustrated, portion 170 may also transition to third portion 170C having a third surface coating 172C (an even more worn version of second surface coating 172B) at which the retroreflective marker 24 becomes fully exposed. In such a case, the tracking system 10 may recognize that the retroreflective marker 24 becomes fully exposed and may cause the information system 160 to provide a perceptible indication to the user that the surface coating 170C may need to be reapplied or otherwise restored. .

[00103] In accordance with an aspect of the present invention, surveillance equipment 140 may additionally or alternatively be used to monitor the position of certain amusement park features, such as supports 142 and/or track 180 supported by supports 142, as shown. in fig. 13. For example, over time, the legs 142 may sink into the ground 182, and it may be desirable to recognize and/or track this settling over time to determine if the ride 144 may require maintenance. In addition, track 180 on supports 142 may also shift its position over time, such as by sagging or shifting horizontally due to gravity, use (eg, vibrations), and other factors.

[00104] One or more retroreflective markers 24 may be located on supports 142, track 180, and/or ground 182 (which may correspond to bottom 92 if ride 144 is an indoor ride). The retroreflective markers 24 may be located on supports 142 and track 180 in areas where movement, wear, sag, sag, etc., is recognizable and/or most likely to occur. For example, as illustrated in FIG. 13, a plurality of retroreflective markers 24 are located along the longitudinal axis of the supports 142, while one of the retroreflective markers 24 is located on the part of the path 180 between the supports 142 where sag or sag is most likely to occur.

[00105] Surveillance equipment 140 can accordingly identify the position of these markers 24 relative to the position of a certain environmental element, such as the ground. Surveillance equipment 140 may include any number of elements capable of implementing surveillance technologies, and in fact, tracking system 10 of the present invention may simply be used in conjunction with such elements or in place of at least some of these elements. By way of example, observation equipment 140 may include any number of observation equipment items known in the art, such as an electronic total station, a robotic electronic total station, an electronic rangefinder, a theodolite, or any combination of these or similar items. In addition, control module 18 may include or otherwise communicate with other surveillance circuits 184, including but not limited to distance analysis circuit 186 and/or angle analysis circuit 188, compatible with, for example, rangefinders and theodolites.

[00106] As one non-limiting example, all or part of the tracking system 10, including retroreflective markers 24, can be used in conjunction with electronic distance measurement technologies to estimate the shift of various elements of the ride 144. For example, electronic distance measurement can generally be performed based on emitting light, detecting light reflected from a target, and measuring a phase difference between emitted and reflected light. The phase difference can be used to determine the distance of the reflected target from the radiation source. Typically, one measurement must be performed at a time. However, in accordance with the present embodiments, detector 16 may be configured to capture multiple signals from multiple reflective targets (ie, multiple retroreflective markers 24) without losing phase information. Accordingly, it should now be recognized that the disclosed tracking system 10 can be integrated with existing surveillance equipment and technology to greatly improve the speed at which surveillance measurement can be performed. It should be noted that the equipment according to the present embodiments can also monitor vibration (eg, small shifts in the equipment) during operation of the monitored system (eg, a roller coaster). This makes it easier to identify system components (eg track segments) that are subject to increased wear.

[00107] As an example of the way in which the tracking system 10 can be integrated with surveillance equipment using electronic distance measurement to track the shift or excessive vibration of the ride 144, the emitter 14 can emit a beam of electromagnetic radiation 28 into the detection area 30, including supports 142 and trace 180. The radiation may be modulated using, for example, a crystal oscillator that acts as an electronic shutter. The phase of the emitted electromagnetic radiation is therefore set by the system according to the present technologies.

[00108] The detector 16 can then capture and record the retroreflective electromagnetic radiation from the retroreflective markers 24 substantially simultaneously. Thus, the detector 16 can record both the source and the phase of the retroreflected electromagnetic radiation from all the retroreflective markers 24 at once. This information can be passed to the monitoring circuit 184, which can compare the measured phase with the known phase of the emitted radiation. The distance to the retroreflective markers 24 can then be calculated at least in part based on the phase difference between the transmitted and received electromagnetic radiation.

[00109] The calculated distances for the retroreflecting markers on the supports 142 can be compared with the markers 24 on the trace 180 to identify, for example, the movement of the trace 180 relative to the supports 142 (assuming that the markers 24 were located for the previous measurement in comparative or baseline purposes, and the markers 24 are in an identical position). Settlement of the legs 142 can be identified, for example, based on changing distances between the ground (on which the reflector may be located as shown) and the measured retroreflective markers 24 on the legs 142. The legs 142 can also be measured relative to each other to identify what has been moved. or possibly one of the supports 142 relative to the other, which may affect path 180. As discussed above with respect to FIG. 11, information obtained from these types of observations can be relayed to the information system 154 to allow technicians to resolve any potential problems with the observed equipment.

[00110] In addition to or as an alternative to monitoring the structural status of various amusement park equipment, the current disclosed tracking system 10 can also be used to monitor pyrotechnic effects generated by various equipment and adjust pyrotechnic effect equipment as needed. Such tracking and control may be applied to, for example, a flame effect, fireworks, or other configuration. Fig. 14 illustrates an example of how tracking system 10 can be used to identify and/or track a flame effect 200 (or some other thermal effect). The flame effect 200 may be part of an amusement park attraction, such as a ride, an acrobatic show, or any other application in which it is desirable to provide regularly controlled flames. Flame effect 200, in particular embodiments, may correspond to the formation of a pattern of burning material, such as in a firework.

[00111] As explained above with reference to FIG. 1, the control module 18 of the tracking system 10 may be able to identify an object in the detection area 30 of the tracking system 10 without using retroreflective markers 24. Thus, the control module 18 can receive data indicative of electromagnetic radiation reflected back from the detection area 30, and control module 18 may compare the reflected radiation signature with one or more possible data signatures stored in memory 22. In some embodiments, control module 18 may include a thermal signature stored in memory 22, which thermal signature corresponds to light of the flame effect 200, which is supposed to reach the detector 16 when the flame effect 200 is performed properly. This thermal signature can be generated and stored in the memory 22 by retesting the flame effect 200 and averaging the electromagnetic radiation detected through the detector 16 over this set of tests. Thereafter, when the ride is operated, the control module 18 may compare the thermal signature of the detected electromagnetic radiation 202 from the flame effect 200 with the thermal signature stored in the memory 22.

[00112] Control module 18 may initiate one or more pyrotechnic effects based on a comparison made between the actual thermal signature detected through detector 16 and the expected thermal signature. In particular, if the thermal signature detected through the detector 16 is not approximately identical (eg, within certain limits) to the expected flame effect stored in the memory 22, the control module 18 may signal to the amusement park equipment 12 to inform an operator of the rides that the flame effect 200 is not functioning correctly, actuate the sprinkler fire system in the ride area, stop riding, and/or block the flame effect 200 altogether. Depending on whether the detected thermal signature is much larger or smaller than the desired thermal signature, one or more of these effects may be triggered via the control module 18.

[00113] It should be noted that the same tracking system 10 (eg, emitter 14 and detector 16) can track both the flame effect 200 and other parts of the ride at the same time. For example, in the illustrated embodiment, the tracking system 10 is positioned to detect both the thermal signature of the electromagnetic radiation from the flame effect 200 and the position of the ride vehicle 204 traveling along the track 180. To this end, the ride vehicle 204 may include one or more retroreflective markers 24 positioned thereon to track the movement of the rolling vehicle 204 through an identical tracking system 10 that monitors the flame effect 200, provided that the frequency of the light reflected by the retroreflective marker 24 is is distinguishable from the flame effect signature. Due to the ability of the tracking system to detect the retroreflective marker 24 even in the presence of electromagnetic radiation including wavelengths emitted by the emitter 14, the electromagnetic radiation from the flame effect 200 does not prevent the control module 18 from identifying and locating the retroreflective marker 24 on the vehicle 204 for riding. Thus, one tracking system 10 can be used to do what would traditionally be done using two or more different and functionally different detection systems, one for the flame effect 200 and the other for the vehicle 204 to ride. Similar technologies can be applied in other contexts in which it is desirable to detect the location of a single object located near a flame effect (or some other bright effect) (for example, pyrotechnics during a firework display).

[00114] FIG. 15 illustrates an embodiment of the flame effect 200 and the manner in which the tracking system 10 can be used to control and regulate the operation of the flame effect 200. Specifically, the flame effect 200 includes a flame generating device 210 that includes a nozzle 212 configured to mix the fuel supplied from the fuel source 214 and the oxidizer supplied from the oxidizer source 216. The injector 212 may have a respective fuel inlet 218 and a respective oxidant inlet 220 configured to receive fuel and oxidant into the injector 212. These may constitute the inlets of the flame former 210 or may be separate from its inlets.

[00115] The flame generator 210 also includes a combustor 222 in which the mixed fuel and oxidizer are ignited using an ignition source 224 (eg, one or more spark plugs). Combustion forms a flame 226, which is issued from the outlet 228 of the device 210 of the formation of the flame. One or more flame shaping additives from flame shaping additive source 230 may be added to flame 226 to control the color of flame 226. For example, flame shaping additives may include metal salts that can change the color of flame 226 from orange to red. for blue, green, etc.

[00116] The control module 18, using one or more detectors 16, can monitor the optical quality of the flame 226 and, as a result of this monitoring, can perform certain control actions to regulate the flame 226 appropriately. For example, control module 18 may be operationally coupled to any one or combination of fuel source 214, oxidant source 216, ignition source 214, and flame forming additive source 230 to regulate flame 226. As also illustrated, control module 18 may include a flame analysis circuit 232 including a flame shape analysis circuit 234 configured to analyze the flame shape 226, a flame timing analysis circuit 236 configured to analyze the time of the flame 226, and a flame color analysis circuit 238 configured to analyze the flame colors 226. Control module 18, by way of example, can control the amount of fuel and/or oxidizer supplied to injector 212 by controlling fuel and/or oxidizer sources 214, 216. Similarly, control module 18 may control the timing of flame 226 by adjusting ignition source 224, and may control the color of flame 226 by adjusting flame forming additive supplied by flame forming additive source 230 (e.g., amount of additive) and/or fuel source 214 (e.g., , fuel stream) and/or oxidant source 216 (eg, oxidizer stream).

[00117] Similar applications exist for equipment incorporating the tracking system 10 disclosed herein. For example, as illustrated in FIG. 16, tracking system 10 can be used to control fireworks 240 (or pyroshows) performed in a pyrotechnical presentation area, such as providing improved tracking and timing of fireworks. In fact, the tracking system 10 may use aspects related to observation (for example, distance measurement) as well as flame tracking in controlling the fireworks 240. In terms of how individual fireworks ignite and explode like fireworks, and how high fireworks travel upwards prior to ignition, it must now be recognized that more precise systems are required to control the height that these firearms reach prior to ignition. This allows you to create a more perfect representation.

[00118] In accordance with the present embodiments, the tracking system 10 can be used to detect and track the pyrotechnic 242 as it travels up through the air. Tracking system 10 may send a signal indicative of the height of the pyro means above the ground 182 to a remote detonation system 244, which may communicate wirelessly with a detonator in the pyro means 242. When the pyro means 242 reaches the desired height 246 above the ground, the remote detonation system 244 may send a signal to the detonator in the pyrotechnic 242 to initiate the ignition and detonation of the pyrotechnic 242 at approximately the desired height 246.

[00119] FIG. 17 illustrates an exemplary embodiment of a pyrotechnic 242 and the manner in which the tracking system 10 may track the pyrotechnic 242 during flight. As illustrated in FIG. 17, pyrotechnic 242 includes an outer casing 260 containing various elements of pyrotechnics 242. In particular embodiments, the internals include a fuse 262 (which also protrudes from casing 260) that is ignited and used to ignite knockout charge 264. The expelling charge 264 is typically responsible for the height that the firearm 242 reaches in the air. However, as discussed below, pyrotechnic 242 may be started using other elements such as compressed air. Accordingly, pyrotechnic 242 may not include a fuse 262. The currently disclosed pyrotechnic 242 may include electronic detonator elements (e.g., an electronic fuse mechanism), such as an electronic detonator 266, and a transceiver 268 configured to receive signals detonations from a remote system 244 detonations. Pyro aid 242 may include an internal fuse 270 coupled to an electronic detonator 266, or a self-contained fuse 271 coupled to an expelling charge 264. Electronic detonator 266 may be configured to ignite a bursting charge 272 via internal fuse 270. However, other options are implementations may use a stand-alone wick 271 that is not connected to the detonation electronics. The bursting charge 272 causes a plurality of pyrotechnic elements (pyrotechnical presentation elements), commonly referred to as "stars" 274, to be released and incinerated. Typically, stars 274 include a mixture of metal salts that form a color when burned.

[00120] As also illustrated, one or more retroreflective markers 24 may be located on the outer housing 260. The marker 24 may allow the tracking system 10 to track the pyrotechnic 242 after the expelling charge 264 is ignited and while the pyrotechnic 242 is in the air. For example, emitter 14 and detector 16 may be located on building 146, and detector 16 may track marker 24 through the flight of pyro vehicle 242 to determine how high pyro vehicle 242 is before it explodes. The initiation of the pyrotechnical presentation elements may be detected by the control module 18, for example, by detecting an electromagnetic radiation pattern associated with the pyrotechnical presentation elements (stars 274) stored in the memory 22. The control module 18 may be configured to determine the location at which the pyrotechnic detonates. 242, based on the detected initiation of pyrotechnic presentation elements. Additionally or alternatively, control module 18 may track the movement of pyrotechnics 242 through the air (i.e. track its trajectory) and identify the triggering event of pyrotechnics 242 (detonation of pyrotechnics 242) when the retroreflective marker 24 on the shell 260 is no longer visible to detector 16 (for example, the completion of the retroreflective by the retroreflective marker 24 is associated with the detonation of the pyrotechnic 242).

[00121] Additionally or alternatively, control module 18, using procedures stored in memory 22 and executed by processor 20, may monitor pyro vehicle 242 and relay instructions to remote detonation system 244 to initiate detonation of pyro means 242. In particular, the remote system 244 may include processing circuitry, such as one or more processors 280, configured to interpret signals (eg, data, instructions) from control module 18 using instructions stored in one or more memories 282. As a result, remote the detonation system 244 can send wireless control signals from the transceiver 284 and to the corresponding transceiver 268 of the pyrotechnic 242 to initiate a detonation using the detonation electronics. As one example, control module 18 may provide one or both of altitude data and/or explicit detonation instructions.

[00122] The tracking system 10 can also be used to adjust the trajectory of the pyro vehicle as needed. For example, as shown in FIG. 18, tracking system 10 can track a plurality of pyrotechnics 242 as they move through the air by tracking retroreflective markers 24 located on their bodies 260 (see FIG. 17). Pyro weapons 242, in some embodiments, may be launched from guns 290 mounted on robotic arms 292 attached to a base 294 on the ground 192. Robotic arms 292 may have articulations 296 along at least one axis, for example, from one to six, to enable fireworks 242 to be launched along any appropriate trajectories for fireworks 240.

[00123] In operation, the tracking system 10 may track the fireworks 242 and may also track their associated series of bursts 298 to determine the launch path and location at which the fireworks 242 will eventually detonate, using, for example, fireworks trajectory control circuit 300. In particular embodiments, control module 18 may have a predetermined firework presentation sequence stored in memory 22 (see FIG. 1), the presentation sequence including an associated burst series, time, trajectory, and so on. The control module 18 can perform substantially real-time comparisons between the tracked locations of the pyrotechnics 242 and their series of ruptures 298 with the stored locations and associated series of ruptures, and the time associated with this stored information, and using the trajectory control circuit 300 cause the actuation of the robotic hands 292 in order to adjust the position of the guns 290. The adjustment can be performed so that the tracked trajectories of the fireworks 242 and the locations of the series of bursts 298 are properly correlated with the corresponding information stored in the memory 22 associated with the stored fireworks.

[00124] As noted above, in specific embodiments, the pyro means 242 may not include a knockout charge. Instead, firearm 242 may be fired from guns 290 using pressurized gas (eg, compressed air) supplied by pressurized gas source 302. In this regard, the amount of pressurized gas (e.g., pressurized gas pressure) supplied to the guns 290 may determine, at least in part, the trajectory of the firearm 242 through the air, how high the firearm 242 is before it detonates, etc. d. As illustrated, control module 18 may be operatively coupled to compressed gas source 302 and may adjust the rate of compressed gas supplied by compressed gas source 302 to guns 290 to control the rate at which fireworks 242 are fired from guns 290. For example, such adjustments may be provided based on comparisons between the expected (eg, stored, reference) trajectory of the pyro means 242 and the measured trajectory of the pyro means 242. Thus, subsequent pyro means 242 having a configuration substantially identical to that of the tracked pyro means 242 may have trajectories that are adjusted by the control module 18 in such a way that that they more closely match the stored or set trajectory.

[00125] While only specific features of the present embodiments are illustrated and described herein, various modifications and changes will be apparent to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all of these modifications and changes as being within the true spirit of the invention.

Claims (58)

1. An amusement park surveillance system, comprising: an amusement park element comprising a retroreflective marker covered with a surface coating of the amusement park element; - an emitter configured to emit electromagnetic radiation to a retroreflective marker; - a detector configured to detect back-reflective electromagnetic radiation from the back-reflecting marker while filtering out electromagnetic radiation that is not back-reflected; and - a control system connected with the possibility of communication with the detector and containing a processing circuit configured to: tracking the reflection in the opposite direction of electromagnetic radiation from the retroreflective marker; determining the intensity of reflection in the opposite direction of electromagnetic radiation from the reflective marker in the opposite direction; comparing the intensity of the reflection in the opposite direction of electromagnetic radiation from the marker reflecting in the opposite direction with the stored intensity in the control system; and evaluating the degree of wear of the amusement park element surface coating based on the comparison of said intensity and said stored intensity. 2. The system of claim 1, wherein the surface coating of the amusement park element comprises paint. 3. The system of claim 1, wherein the control system processing circuitry is configured to determine the amount of openness of the retroreflective marker with respect to the surface coverage of the amusement park element based on the intensity of the retroreflective electromagnetic radiation from the retroreflective marker. 4. The system of claim 3, wherein the control system processing circuitry is configured to output a perceptible indication to the user upon determining that the retroreflective marker is fully open with respect to the surface coverage of the amusement park element. 5. The system of claim 4, wherein the user-perceived indication includes notification of surface recoating of the amusement park element and the retroreflective marker. 6. The system of claim 1, wherein the amusement park element is a building. 7. The system of claim 1, wherein the control system processing circuitry is configured to monitor the retro-reflective electromagnetic radiation from the retro-reflective marker while re-surfacing the amusement park element to determine said stored intensity. 8. The system of claim 1, wherein the control system processing circuit is configured to determine whether a spectral shift has occurred on the amusement park element based on a comparison of said intensity and said stored intensity. 9. The system of claim 8, wherein the spectral shift comprises paint fading. 10. An amusement park surveillance system, comprising: - an amusement park element containing a retroreflective marker; - an emitter configured to emit electromagnetic radiation to a retroreflective marker; - a detector configured to detect back-reflective electromagnetic radiation from the back-reflecting marker while filtering out electromagnetic radiation that is not back-reflected; and - a control system connected with the possibility of communication with the detector and containing a processing circuit configured to: tracking the first phase of electromagnetic radiation emitted by the emitter to the retroreflective marker; tracking a second phase of retroreflective electromagnetic radiation from the retroreflective marker; determining a phase difference between the first phase and the second phase; estimating a distance between the emitter and the retroreflective marker based on said phase difference; and determining that the amusement park feature has moved based on the estimated distance between the emitter and the retroreflective marker. 11. The system of claim 10, wherein the amusement park element comprises a track, and wherein the control system processing circuitry is configured to determine the movement of the track relative to the track capable of supporting the track based on said estimated distance. 12. The system of claim 10, wherein the control system processing circuitry is configured to track the first phase of electromagnetic radiation emitted by the emitter to the retroreflective marker by modulating the electromagnetic radiation using a crystal oscillator. 13. The system of claim. 10, comprising an additional amusement park element having an additional retroreflective marker, and the control system processing circuit is configured to: tracking a third phase of electromagnetic radiation emitted by the emitter to the additional retroreflective marker; tracking the fourth phase of additional reflection in the opposite direction of electromagnetic radiation from the additional marker reflecting in the opposite direction; determining an additional phase difference between the third phase and the fourth phase; and estimating an additional distance between the emitter and the additional retroreflective marker based on said additional phase difference. 14. The system of claim 13, wherein the control system processing circuitry is configured to determine said phase difference and said additional phase difference substantially simultaneously. 15. A method for monitoring the elements of an amusement park, containing the steps in which: - track the electromagnetic radiation reflected in the opposite direction from the marker, which is reflected in the opposite direction, placed on the element of the amusement park; - determine the first phase of the electromagnetic radiation reflected in the opposite direction from the marker reflecting in the opposite direction; - comparing the first phase of the electromagnetic radiation reflected in the backward direction from the marker with the second phase of the emitted electromagnetic radiation from the emitter directed towards the marker reflecting in the opposite direction; and - determining that the element of the amusement park needs maintenance, at least by determining the distance between the emitter and the retroreflective marker based on a comparison of the first phase and the second phase. 16. The method of claim 15, comprising determining that the amusement park element has moved based on the distance between the emitter and the retroreflective marker. 17. The method of claim 15, comprising the steps of: tracking a second retroreflective electromagnetic radiation from a second retroreflective marker placed on the amusement park element; determining a third phase of the second retroreflective electromagnetic radiation from the second retroreflective marker; comparing the third phase of the second backward-reflecting electromagnetic radiation from the second backward-reflecting marker with the second phase of the emitted electromagnetic radiation from the emitter directed towards the second backward-reflecting marker; and determining that the amusement park element needs maintenance by at least determining a second distance between the emitter and the second retroreflective marker based on a comparison of the third phase and the second phase. 18. The method of claim 17, wherein the amusement park element comprises at least one pole and a track, wherein the retroreflecting marker is placed on said at least one pole, wherein the second retroreflective marker is placed on the track, and wherein the method comprises determining the movement of the trace relative to said at least one support based on determining the distance between the emitter and the retroreflective marker and determining the second distance between the emitter and the second retroreflective marker. 19. The method of claim 17, wherein the amusement park element comprises a plurality of pillars and a track, wherein the retroreflecting marker is placed on the first pillar of said plurality of pillars, wherein the second retroreflective marker is placed on the second pillar of said plurality of pillars, wherein the method comprises determining the movement of the track based on determining that the first support has moved relative to the second support or determining that the second support has moved relative to the first support, and determining that the first support has moved along with respect to the second support or determining that the second support has moved with respect to the first support is based on determining the distance between the emitter and the retroreflective marker and determining the second distance between the emitter and the second retroreflective marker. 20. An amusement park surveillance system, comprising: - an amusement park element containing a retroreflective marker; - an emitter configured to emit electromagnetic radiation to a retroreflective marker; - a detector configured to detect back-reflective electromagnetic radiation from the back-reflecting marker while filtering out electromagnetic radiation that is not back-reflected; and - a control system connected with the possibility of communication with the detector and containing a processing circuit configured to: tracking the first phase of electromagnetic radiation emitted by the emitter to the retroreflective marker; tracking a second phase of retroreflective electromagnetic radiation from the retroreflective marker; determining a phase difference between the first phase and the second phase; estimating a distance between the emitter and the retroreflective marker based on said phase difference; and determining a vibration frequency of the amusement park element based on said phase difference.

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