Systems and methods for facilitating guest control of ride vehicles

Abstract

A ride vehicle control system for an attraction ride vehicle includes a plurality of sensors configured to monitor guests supported by the ride vehicle. The ride vehicle control system also includes an actuator system configured to couple to the ride vehicle. The ride vehicle control system further includes one or more processors configured to receive signals from the plurality of sensors indicative of guest position, guest movement, or both. The one or more processors are also configured to determine intended movement of the ride vehicle based on the signals and to control the actuator system to adjust resistance to movement of the ride vehicle to facilitate the intended movement.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Provisional Patent Application No. 63 / 077,095, filed September 11, 2020, and entitled "SYSTEMS AND METHODS TO FACILITATE GUEST CONTROL OF A RIDE VEHICLE," which is incorporated herein by reference in its entirety for all purposes. [Background technology]

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

[0003] Amusement parks may include a variety of attractions useful in providing guests with motion and / or visual experiences. For example, an attraction may include a ride vehicle that moves along a path (e.g., a ride track) to provide a motion experience to guests. In some cases, an attraction may include a ride vehicle configured to roll, pitch, and / or yaw while remaining fixed in place (e.g., without moving along a path) to provide a motion experience to guests. In some cases, an attraction may include virtual reality (VR) equipment worn by guests to provide a visual experience to the guests. It is now recognized that enhancing the motion and / or visual experience for guests at an amusement park may be desirable. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] U.S. Provisional Patent Application No. 62 / 889,942 [Patent Document 2] U.S. Patent Application Serial No. 16 / 687,354 [Patent Document 3] U.S. Patent Application Serial No. 16 / 929,066 Summary of the Invention

[0005] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the disclosure, but rather merely to provide a brief summary of some disclosed embodiments. Indeed, the disclosure may include a variety of forms that may be similar to or different from the embodiments set forth below.

[0006] In one embodiment, a ride vehicle control system for an attraction ride vehicle includes a plurality of sensors configured to monitor a guest supported by the ride vehicle. The ride vehicle control system also includes an actuator system configured to couple to the ride vehicle. The ride vehicle control system further includes one or more processors configured to receive signals from the plurality of sensors indicative of a guest's position, a guest's movement, or both. The one or more processors are also configured to determine an intended movement of the ride vehicle based on the signals and to control the actuator system to adjust resistance to the ride vehicle's movement to facilitate the intended movement.

[0007] In one embodiment, a ride vehicle control system for an attraction ride vehicle includes one or more processors configured to receive a first signal from a head position sensor indicative of a guest's head position, a guest's head movement, or both. The one or more processors are also configured to determine an intended movement of the ride vehicle based on the first signal. The one or more processors are further configured to control an actuator system to adjust resistance to movement of the ride vehicle to facilitate the intended movement.

[0008] In one embodiment, a method of operating a ride vehicle control system includes receiving, at one or more processors, a first signal from a head position sensor indicative of a guest's head position, a guest's head movement, or both. The method also includes determining, using the one or more processors, an intended movement of the ride vehicle based on the first signal. The method further includes controlling, using the one or more processors, an actuator system to adjust resistance to movement of the ride vehicle to facilitate the intended movement by the guest shifting their weight.

[0009] These and other features, aspects, and advantages of the present disclosure will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which like parts are designated by like numerals throughout. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating an embodiment of an attraction having a ride vehicle and a ride vehicle control system including a spring-based actuation system including a spring, according to an embodiment of the present disclosure. [Figure 2] 2 is a perspective view of an embodiment of a motorized actuation system including two motors and two linkage systems that can be used in the ride vehicle of FIG. 1 according to an embodiment of the present disclosure. [Figure 3]2 is a perspective view of an embodiment of a motorized actuation system including three motors and three linkage systems that can be used in the ride vehicle of FIG. 1 according to an embodiment of the present disclosure. [Figure 4] FIG. 2 is a schematic diagram illustrating an embodiment of the attraction of FIG. 1 in which the ride vehicle includes any suitable actuation system and a plurality of sensors are configured to provide signals to a vehicle controller of a ride vehicle control system, according to an embodiment of the present disclosure. [Figure 5] FIG. 1 is a flow diagram of an embodiment of a method for operating an attraction ride vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] One or more specific embodiments of the present disclosure will be described below. In the interest of brevity in describing these embodiments, not all features of an implementation may be described herein. It will be understood that in developing any such implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developer's particular objectives, including compliance with system-related and business-related constraints that may vary from implementation to implementation. Moreover, it will be understood that such a development effort may be complex and time-consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill in the art having the benefit of this disclosure.

[0012] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean the presence of one or more of the element. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Furthermore, references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also contain the recited features.

[0013] The present embodiment relates to a ride vehicle control system for an amusement park attraction. The ride vehicle control system is configured to control the operation systems of ride vehicles that accommodate guests (e.g., passengers) and provide a motion experience for the guests. Generally, guests can provide input to the ride vehicle control system by moving relative to the ride vehicle, and the ride vehicle control system can control the operation systems of the ride vehicle based on the input to provide the motion experience for the guests. Specifically, the ride vehicle control system can include one or more sensors that monitor the guest's head position and / or movement, eye position and / or movement, and body position and / or movement (e.g., hand, limb, and weight shift). A vehicle controller can receive signals indicative of the guest's position(s) and / or movement(s) from the one or more sensors. The vehicle controller can then determine the guest's intention based on the guest's position(s) and / or movement(s) and control the ride vehicle according to the guest's intention. As described in more detail below, the vehicle controller may also receive additional inputs regarding the ride elements (e.g., physical ride elements such as animatronic characters, virtual ride elements such as virtual characters presented to the guest via a virtual reality (VR) device) and determine the guest's intent based on the additional inputs. Advantageously, the disclosed technology may provide a more responsive and / or immersive experience for the guest.

[0014] 1 , the attraction 10 includes a ride vehicle control system 12 having a vehicle controller 14 and a ride vehicle 16 (e.g., a motion simulator). In some embodiments, the ride vehicle 16 may include seats 20 configured to accommodate guests 22 (e.g., passengers). While riding in the ride vehicle 16, the guests 22 may also receive a virtual experience via VR equipment 24 (e.g., a VR headset, a wearable visualization device, a head-mounted sensor device) that includes or is coupled to a VR controller 26 (e.g., an additional controller).

[0015] It should be understood that the ride vehicle 16 can take any suitable form or appearance, such as, for example, a sled, a motorcycle, a car, an animal, a surfboard, a skateboard, or the like. It should also be understood that, for ease of explanation, the ride vehicle control system 12 is described herein with reference to a ride vehicle 16 supporting a single guest 22, but that the ride vehicle control system 12 can be adapted to a multi-passenger ride vehicle supporting multiple guests using similar techniques. It should also be understood that the VR equipment 24 is optional and may not be provided as part of the attraction 10. For example, the guest 22 may not wear (e.g., on their head) any of the equipment integrated as part of the ride vehicle control system 12, and / or virtual features may not be presented to the guest 22 (e.g., the guest 22 may view their actual environment). Furthermore, in some embodiments, the guest 22 may wear non-VR equipment (e.g., glasses, a head-mounted strap) that includes head-mounted sensors for monitoring the guest 22 to facilitate the disclosed technology. In such cases, the VR controller 26 is not configured to coordinate the virtual experience, but instead may be utilized to receive signals from head-mounted sensors monitoring the guest 22 and / or provide signals or other data to the vehicle controller 14 (e.g., based on processing signals from the head-mounted sensors) (thus, the VR controller may also be referred to as any type of additional controller, such as a guest tracking controller, instead of a VR controller).

[0016] The ride vehicle 16 may have any of a variety of configurations that allow the guest 22 to provide input (e.g., by moving their head, eyes, and / or body) to control the movement of the ride vehicle 16. For example, in some embodiments, the seat 20 may be coupled to a top surface 30 of a spring plate 32 (e.g., a solid plate, an open framework) of the ride vehicle 16. A spring 34 may be engaged or coupled to a bottom surface 36 of the spring plate 32. The spring 34 may provide resistance to movement of the spring plate 32 (e.g., relative to other components of the ride vehicle 16). The ride vehicle 16 may include a base 40 coupled to a support beam 42 via a strut 44, which is also coupled to the bottom surface 36 of the spring plate 32 via a pivot joint 46. The pivot joint 46 may allow the spring plate 32 to rotate relative to the base 40 via roll 50 (e.g., rolling motion) and pitch 52 (e.g., pitching motion). In some embodiments, the base 40 may be generally stationary relative to the ground 54. However, it should be understood that the base 40 may also move relative to the ground 54, such as when the base 40 is part of a larger vehicle that follows a path (e.g., a track).

[0017] In some embodiments, the pivot joint 46 may be a spherical bearing joint or a universal joint that also allows the leaf 32 to rotate relative to the base 40 via yaw 56 (e.g., yaw motion about an axis parallel to the vertical axis 72). However, the pivot joint 46 may also be configured to allow movement only along a single axis (e.g., corresponding to a single degree of freedom) or two axes (e.g., corresponding to two degrees of freedom), which may be suitable for simplified attraction. For example, the pivot joint 46 may be a gimbal joint or a hinged gimbal expansion joint to provide rotation about a single axis. In any case, the base 40, the support beam 42, and the pivot joint 46 generally form a support assembly 60 that supports the leaf 32 while allowing one or more pivotal degrees of freedom for the leaf 32.

[0018] The VR device 24, which can be worn by the guest 22, renders a virtual experience for the guest 22 using VR technology, augmented reality (AR) technology, and / or mixed reality (e.g., a combination of VR and AR) technology. For example, the VR controller 26 can include a processor 62 and a memory 64, and the processor 62 can execute instructions stored in the memory 64 to direct the display of the VR device 24 to present a series of virtual images corresponding to the virtual experience. The VR controller 26 and the vehicle controller 14 can be communicatively coupled to each other via respective communication components 66 (e.g., wirelessly or wired). In this manner, the virtual experience provided via the VR device 24 and the movement of the ride vehicle 16 can be coordinated with each other. For example, the VR controller 26 can adjust the virtual images presented to the guest 22 based on the setting and / or movement of the spring plates 32. Furthermore, the virtual experience provided via the VR device 24 can be selected to correspond to the physical appearance of the ride vehicle 16 and / or the theme of the attraction 10, thereby providing an immersive experience for the guest 22. For example, in an embodiment where the theme of the attraction 10 is a jungle, the seats 20 of the ride vehicles 16 may be designed as animals, and the virtual experience may be presented to the guests 22 as a race through the jungle.

[0019] In some embodiments, the ride vehicle 16 may include components that enable semi-passive control of the ride vehicle 16, which may provide advantages with respect to the experience of the guest 22 (e.g., compared to a fully passive system or a fully active system). For example, the ride vehicle 16 may include a resistance adjustment feature such as an actuator plate 70 (e.g., a solid plate, an open framework) disposed between the spring plate 32 and the base 40 about a vertical axis 72. In some embodiments, an actuator 74 is coupled between the actuator plate 70 and the base 40 that adjusts the position of the actuator plate 70 relative to the base 40 based on instructions from the vehicle controller 14. Specifically, the vehicle controller 14 may include a processor 90 and a memory 92, and the processor 90 may execute instructions stored in the memory 92 to command the actuator 74 to retract or extend to any suitable actuator length between a fully retracted length and a fully extended length so as to position the actuator plate 70 at a particular separation distance 76 from the spring plate 32. Actuator 74 may be any suitable component that facilitates movement of actuator plate 70, including an electric actuator, a hydraulic actuator, a pneumatic actuator, a magnetic actuator, a mechanical actuator, a servo motor, etc. In some embodiments, actuator plate 70 may not be directly coupled to spring plate 32 (e.g., actuator plate 70 and spring plate 32 may be physically separated from one another along vertical axis 72, at least at certain positions and / or at certain times during operation).

[0020] The springs 34 can selectively contact and apply pressure to the actuator plate 70 in response to movement of the guest 22. For example, as the guest 22 leans their weight against the support beam 42, the pivot joint 46 correspondingly permits the spring plates 32 to rotate (e.g., tilt), thereby placing a corresponding portion of the springs 34 in contact (e.g., engage) with the upper surface 80 of the actuator plate 70. As the guest 22 continues to lean their weight, the springs 34 in contact with the upper surface 80 compress, providing a resistive force that slows and ultimately stops the movement of the spring plates 32. By adjusting the separation distance 76 between the spring plates 32 and the actuator plate 70, the ride vehicle control system 12 can effectively adjust the effective spring constant of the springs 34 to tune the ride 16 to provide the guest 22 with a sense of neutral buoyancy and / or appropriate responsiveness suitable for any one of a number of VR experiences provided by the VR device 24.

[0021] While two springs 34 and two actuators 74 are shown for simplicity, it should be understood that these are representative of any number of such features. Indeed, the ride vehicle 16 may include any suitable number of springs 34 and actuators 74, including one spring 34 and / or one actuator 74. For example, in embodiments with a single actuator 74, the single actuator 74 may include any suitable four-bar linkage, scissor linkage, guide rail and wheel combination, or other suitable linkage mechanism that allows the position of the actuator plate 70 to be adjusted in one or more dimensions. Also, in embodiments with a single spring 34, the single spring 34 may be positioned at a central location corresponding to the expected center of mass of the guest 22. It should also be understood that the spring 34, depicted as a mechanical, helical, or coil spring, may include or represent any suitable biasing member or resistance device (e.g., a gas spring, an air spring, an elastomer, a leaf spring, a rigid air bladder, a conical spring washer such as a Belleville washer, a gas strut, or a magnetic repulsion assembly, or any combination thereof). That is, any suitable device that applies a variable force as a function of the dimensions of the suitable device is presently contemplated for use in ride vehicle control system 12.

[0022] Also, while the springs 34 of the leaf 32 are shown separate from the actuator plate 70, in other embodiments, the springs 34 can be coupled between the leaf 32 and the base 40 to provide a normalizing bias to the leaf 32. Furthermore, it should be understood that the springs 34 can be coupled to any suitable location on the ride vehicle 16 that allows for selective engagement of the springs 34, including locations where the springs 34 engage any suitable surface of the actuator plate 70 via cantilever action or any other suitable force-distributing components. That is, the preferred location can be any suitable location where the springs 34 engage in response to rotation of the leaf 32 beyond a threshold angle. In some embodiments, one or both ends of the springs 34 can be coupled to the leaf 32 to selectively compress the springs 34 between the leaf 32 and the actuator plate 70. In some embodiments, the springs 34 can be coupled to the top surface 80 of the actuator plate 70. The springs 34, actuators 74, and related components can combine to form a spring-based actuation system. Furthermore, it should be understood that the ride vehicle 16 may be implemented with any of a variety of spring actuation systems (eg, having springs).

[0023] FIG. 2 illustrates an embodiment of a motorized actuation system that can be used in the ride vehicle 16 of the attraction 10. As shown, the motorized actuation system includes motors 220 and linkage systems 222 that operate to cause movement of the leaf 32 about the pivot joint 46 of the support beam 42 (e.g., cause movement of the leaf 32 relative to the base 40). Each motor 220 (e.g., an electromechanical motor, a pneumatic motor, a hydraulic motor) can operate to adjust the resistance to movement of the leaf 32 about the pivot joint 46. In some embodiments, each motor 220 is coupled to a respective gearbox 224 and / or a respective linkage system 222. For example, the motor 220 can be coupled to the gearbox 224, which can be coupled to a first bracket 226 of the linkage system 222. Thus, torque output by the motor 220, which causes rotation of the shaft of the motor 220, can cause rotation of a gear in the gearbox 224, which in turn can rotate the first bracket 226. As an example, the motor 220 may utilize a keyless bushing to rotate a shaft and gearbox 224, enabling smooth movement of the spring plate 32. The first bracket 226 is coupled to a linkage 228 of the linkage system 222 at a first end 230 of the linkage 228. Additionally, a second end 232 of the linkage 228 may be coupled to a second bracket 234 of the linkage system 222, which may be coupled to a portion of the bottom surface 36 of the spring plate 32 (e.g., a corner, a side).

[0024] The motor 220 can be configured to output a torque capable of controlling and / or driving rotational movement of the first bracket 226 about a respective horizontal axis 236 or a respective axis parallel to the horizontal axis 236. Such rotational movement of the first bracket 226 can cause corresponding movement of the linkage 228 generally along an axis parallel to the vertical axis 72 to impart a force to a respective portion of the spring leaf 32. This imparted force can cause the spring leaf 32 to move (e.g., rotate, e.g., pitch and / or roll) relative to the base 40. The linkage 228 can be rotatably coupled to the first bracket 226 and the second bracket 234 via rotatable fasteners 238 (e.g., shoulder screws) of the linkage system 222, or the like, to enable rotational movement between the linkage 228 and the brackets 226, 234 about the respective horizontal axis 236. Rotation between the linkage 228 and the brackets 226, 234 can enable greater control of the movement of the spring leaf 32 relative to the base 40. Additionally, the coupling between linkage 228 and brackets 226, 234 may allow additional movement of linkage 228 relative to brackets 226, 234 to facilitate movement of spring leaf 32 relative to base 40. As an example, linkage 228 may translate linearly along rotatable fastener 238 and / or rotate relative to brackets 226, 234 about another axis (e.g., via additional fasteners in linkage system 222).

[0025] In one embodiment, linkage system 222 is supported via plate 240 (e.g., coupled to support beam 42) that extends between base 40 and actuator plate 70. Plate 240, which may be part of support assembly 60, for example, may be fixedly coupled to actuator plate 70, base 40, and / or support beam 42. Gearbox 224 may be fixedly coupled to plate 240 to prevent movement between gearbox 224 and support assembly 60, thereby stabilizing linkage system 222. In this manner, plate 240 may facilitate motor 220 providing the desired movement of spring plate 32 relative to base 40.

[0026] In some embodiments, each motor 220 can be back-drivable. That is, sufficient force applied to the spring leaves 32 (e.g., by the weight shift of the guest 22) can cause movement of the spring leaves 32 relative to the base 40 in a direction opposite to the movement of the spring leaves 32 caused by the torque output by the motors 220. In other words, sufficient force can be used to rotate one of the first brackets 226 in a direction opposite to the rotation caused by the torque output by the motors 220. In this manner, the amount of torque output by the motors 220 to apply a force to the spring leaves 32 can adjust the amount of counterforce required to move the spring leaves 32 relative to the actuator plate 70 against the torque output by the motors 220. Thus, the torque output by the motors 220 sets the movement resistance of the spring leaves 32. Specifically, increasing the torque output can increase the movement resistance, and decreasing the torque output can decrease the movement resistance. Each motor 220 may be communicatively coupled to the vehicle controller 14, and the processor 90 may execute instructions stored in the memory 92 to control the motor 220 to output a particular torque, effectively adjusting or setting the resistance to movement of the spring leaf 32. While the motorized actuation system of FIG. 2 includes two motors and two linkage systems, it should be understood that any suitable number of motors and linkage systems may be utilized within the ride vehicle 16. For example, FIG. 3 illustrates an embodiment of a motorized actuation system including three motors and three linkage systems that may be used within the ride vehicle 16. Three motors 220 may allow for greater control of the movement of the spring leaf 32 compared to controlling the spring leaf 32 via two motors 220. As an example, in addition to pitching and / or rolling the spring leaf 32 relative to the base 40, the vehicle controller 14 may also translate the spring leaf 32 along an axis parallel to the vertical axis 72 to heave the spring leaf 32, etc.

[0027] 1-3 depict example components that may be included in ride vehicle 16 for ease of explanation, it should be understood that ride vehicle 16 may have any of a variety of components and configurations. Indeed, ride vehicle control system 12 may include or be used in conjunction with any of the features and techniques disclosed in U.S. Provisional Patent Application No. 62 / 889,942, filed August 21, 2019, entitled "Resistance Control Systems and Methods for Amusement Attractions," U.S. Patent Application No. 16 / 687,354, filed November 18, 2019, entitled "Resistance Control Systems and Methods for Amusement Attractions," and U.S. Patent Application No. 16 / 929,066, filed July 14, 2020, entitled "Resistance Control Systems and Methods for Amusement Attractions," all of which are incorporated herein by reference in their entirety for all purposes.

[0028] With the above in mind, FIG. 4 illustrates an embodiment of a ride vehicle 16 having an actuator system 300 (e.g., a mechanical system) that can be controlled to adjust the resistance to movement of the spring leaf 32 (e.g., to make it more difficult or easier for the guest 22 to move the spring leaf 32 by shifting their weight) and / or to actively adjust the spring leaf 32 (e.g., to drive the spring leaf 32, adjust the force applied to the spring leaf 32). It should be understood that the actuator system 300 can include a spring-based actuator system (e.g., FIG. 1), a motor-based actuator system (e.g., FIGS. 2 and 3), or any other suitable type of actuator or mechanical system. The spring leaf 32 can support a seat 20 for the guest 22. The guest 22 can wear a VR device 24 that includes or is coupled to a VR controller 26 having a processor 62 and a memory 64.

[0029] It is now recognized that each guest 22 may have different characteristics (e.g., weight, activity level, mobility) that may affect the manner in which each guest 22 moves during a ride cycle. Accordingly, the vehicle controller 14 may be configured to control the actuator system 300 (e.g., actuator 74 in FIG. 1 , motor 220 in FIG. 2 ) to adjust the resistance to movement of the spring leaves 32 and / or actively adjust the spring leaves 32 to account for the different characteristics of each guest 22 so that each guest 22 can enjoy the attraction 10 (e.g., experience movement within the ride vehicle 16, feel a sense of control over the ride vehicle 16). For example, the vehicle controller 14 may be configured to control the actuator system 300 based on inputs related to the guest 22's head position and / or movement, eye position and / or movement, and / or body position and / or movement (e.g., hand, limb, and weight shift).

[0030] In one embodiment, the vehicle controller 14 may be configured to receive signals from one or more sensors (which may indicate, for example, head position and / or movement, eye position and / or movement, and / or body position and / or movement), process these signals to determine the intent of the guest 22, and then control the actuator system 300 according to the intent of the guest 22. For example, detecting that the guest 22 is leaning backward to the left may be interpreted as an intent of the guest 22 to control the ride vehicle 16 to travel upward and to the left. As another example, detecting that the guest 22's head is leaning and / or turning to the left may be interpreted as an intent of the guest 22 to control the ride vehicle 16 to travel leftward.

[0031] In some embodiments, the ride vehicle control system 12 may include a head position sensor 322 (e.g., a head tracking sensor) configured to monitor the position and / or movement of the head of the guest 22. The position may be a position relative to the body of the guest 22 (e.g., angular position) and / or a position relative to the ground 54 or gravity vector, and the movement may be a velocity, acceleration, and / or direction of movement. As shown, the head position sensor 322 may be mounted on the head of the guest 22. For example, the head position sensor 322 may be incorporated into and / or coupled to the VR equipment 24 or other device mounted on the head of the guest 22. In some such cases, the head position sensor 322 may be an accelerometer and / or a gyroscope. It should be understood, however, that head position sensor 322 can be any other suitable type of sensor, such as an image sensor (e.g., LIDAR, infrared, camera-based, blob trackers, skeletal trackers, optical trackers, RFID reader that reads an RFID tag worn by guest 22) mounted on or otherwise proximate to ride vehicle 16 to acquire images indicative of the relative position and / or movement of the head of guest 22. Regardless of its location and / or type, head position sensor 322 can provide signals indicative of the position and / or movement of the head of guest 22 to vehicle controller 14 (e.g., via wireless communication with vehicle controller 14 and / or via VR controller 26).

[0032] As described above, the guest 22 can generally move (e.g., rotate) the spring plate 32 by moving their body (e.g., leaning, shifting their weight). However, the guest 22 may initiate such movement (e.g., tilting) from their head. For example, the guest 22 may use their head to lead the way, moving their head in a certain direction and then moving their body (e.g., center of gravity) in that direction. The vehicle controller 14 can process signals from the head position sensor 322 to determine the guest 22's intention (e.g., intended movement of the ride vehicle 16). For example, if the signals indicate that the guest 22 suddenly tilted their head to the left, the vehicle controller 14 can determine that the guest 22 intends to tilt (e.g., roll) the spring plate 32 downward and to the left. In response to determining the intent and corresponding intended movement, the vehicle controller 14 may reduce the resistance of the spring leaf 32 to the intended movement (e.g., to allow the guest 22 to easily tilt the spring leaf 32 downward and to the left) and / or may actively adjust the spring leaf 32 to achieve the intended movement (e.g., tilting the spring leaf 32 downward and to the left).

[0033] Determining the intent of the guest 22 based on signals from the head position sensor 322 (e.g., alone or in combination with other signals) has the advantage of allowing the ride vehicle 16 to more easily move with the guest 22 and / or providing a responsive ride experience for the guest 22 even if the guest 22 has difficulty shifting their weight. Furthermore, because guests 22 tend to lead with their heads, determining the intent of the guest 22 based on signals from the head position sensor 322 allows the vehicle controller 14 to anticipate (e.g., predict) how the guest 22 is likely to move their body. As a result, the resistance and / or adjustments to the spring plates 32 can be made prior to and / or during the initial or initiation period of the guest 22's body movement. In this manner, the guest 22 may feel as if the spring plates 32 are moving with their body (e.g., without delay) and may have a more responsive and realistic movement experience.

[0034] The ride vehicle control system 12 may also include other types of sensors that monitor characteristics of the guest 22, and the vehicle controller 14 may process the characteristics of the guest 22 to determine the guest's 22 intentions. For example, the ride vehicle control system 12 may include an eye position sensor 324 (e.g., an eye tracking sensor) configured to monitor the position and / or movement of one or both of the guest's 22 eyes. As shown, the eye position sensor 324 may be integrated into and / or coupled to the VR equipment 24 or other equipment worn on the guest's 22 head. However, in embodiments in which the guest 22 does not wear the VR equipment 24 or other equipment worn on the guest's 22 head, the eye position sensor 324 may be mounted on or otherwise proximate to the ride vehicle 16 to monitor the position and / or movement of the guest's 22 eyes. As an example, eye position sensor 324 may be an image sensor configured to capture images indicative of a point of gaze (e.g., where guest 22 is looking) and / or eye movement relative to the head of guest 22. Regardless of its location and / or type, eye position sensor 324 may provide signals indicative of the position (e.g., point of gaze) and / or movement of one or both eyes of guest 22 to vehicle controller 14 (e.g., via wireless communication with vehicle controller 14 and / or via VR controller 26).

[0035] As described above, the guest 22 can generally move (e.g., rotate) the spring plate 32 by moving their body (e.g., leaning, shifting their weight). However, the guest 22 may initiate such movement (e.g., tilting) from their head and / or eyes. For example, the guest 22 may look in a desired direction to move or lean, causing their eyes to move in that direction, followed by their body (e.g., center of gravity) to move in that direction. The vehicle controller 14 can process signals from the eye position sensor 324 to determine the guest 22's intention. For example, if the signals indicate that the guest 22 suddenly shifted their gaze to the left, the vehicle controller 14 can determine that the guest 22 intends to rotate (e.g., yaw) the spring plate 32 to the left. In response to determining the intent and corresponding intended movement, the vehicle controller 14 may reduce the resistance of the spring leaf 32 to the intended movement (e.g., to allow the guest 22 to easily rotate the spring leaf 32) and / or may actively adjust the spring leaf 32 to achieve the intended movement (e.g., rotating the spring leaf 32).

[0036] Additionally, it is now recognized that tracking one or both eyes of the guest 22 is particularly useful in determining that the guest 22 intends to lean backward (e.g., to pitch the spring plate 32 so that the rear of the spring plate 32 behind the guest 22 is lower (e.g., closer to the ground 54) than the front of the spring plate 32 in front of the guest 22) because the guest 22 may be hesitant or have difficulty leaning his or her head and / or body backward while riding in the ride vehicle 16. Accordingly, the vehicle controller 14 may, as a result of such movement of one or both eyes of the guest 22, reduce the resistance of the spring plate 32 to make it easier for the guest 22 to rotate the spring plate 32 backward (e.g., with relatively little weight shift) and / or actively adjust the spring plate 32 to rotate backward.

[0037] Determining the intent of the guest 22 based on signals from the eye position sensor 324 (e.g., alone or in combination with other signals, such as signals from the head position sensor 322) has the advantage of allowing the ride vehicle 16 to move more easily with the guest 22 and / or providing a more responsive ride experience for the guest 22 even if the guest 22 has difficulty shifting their weight. Furthermore, because guests 22 tend to use their eyes as leads, determining the intent of the guest 22 based on signals from the eye position sensor 324 allows the vehicle controller 14 to anticipate (e.g., predict) how the guest 22 is likely to move their body. As a result, adjustments to the resistance and / or spring plates 32 can be made prior to and / or during the initial or initiation period of the guest 22's body movement. In this manner, the guest 22 may feel as if the spring plates 32 are moving with their body (e.g., without delay) and have a more responsive and realistic movement experience.

[0038] In some embodiments, the ride vehicle control system 12 may include an array of weight sensors 326 (e.g., in the seat 20 and / or in the spring plate 32) configured to monitor the body position and / or movement (e.g., weight shift, center of gravity shift) of the guest 22. The weight sensors 326 may be pressure sensors spaced apart from one another and / or spread across the seating surface of the guest 22. In some embodiments, the ride vehicle control system 12 may include one or more grip sensors 328 configured to detect the grip force (e.g., force exerted by the guest's 22 hands), grip position (e.g., hand position, direction of force exerted by the guest's 22 hands), and / or grip movement (e.g., hand movement, change in force exerted by the guest's 22 hands) of one or both of the guest's 22 hands. The grip sensors 328 may be pressure sensors located on one or more handles of the ride vehicle 16 or on another portion of the ride vehicle 16 configured to be gripped by the guest 22 during a ride cycle. In some embodiments, the ride vehicle control system 12 may include one or more skeletal sensors 330 configured to monitor the position and / or movement of skeletal features (e.g., limbs) of the guest 22. The skeletal sensors 330 may include image sensors (e.g., LIDAR, infrared, camera-based, blob tracker, skeletal tracker, optical tracker, RFID reader that reads RFID tags worn by the guest 22). The image sensors may be located on or proximate to the ride vehicle 16 to monitor the position and / or movement of the skeletal features of the guest 22. Regardless of the location and / or type of these sensors, the weight sensor 326, grip sensor 328, and / or skeletal sensor 330 may provide signals to the vehicle controller 14 indicative of the body position and / or movement of the guest 22.

[0039] As described above, the guest 22 can generally move (e.g., rotate) the spring plate 32 by moving (e.g., leaning, shifting weight) relative to the seat 20. The vehicle controller 14 can process signals from the array of weight sensors 326 to determine the intent (e.g., intended movement) of the guest 22. For example, if the guest 22 desires to rotate (e.g., roll) the spring plate 32 downward on the lateral left side of the seat 20, the guest 22 can shift their weight toward the lateral left edge of the seat 20.

[0040] The guest 22 can also adjust their grip (e.g., hand grip) to indicate their intentions at the grip sensor 328 during the ride. For example, the guest 22 can grip the handle tightly and / or push the handle forward while wanting to rotate forward (e.g., pitch), and / or can grip the handle loosely and / or pull the handle back while wanting to rotate backward (e.g., pitch). Similarly, the guest 22 can push one handle forward and pull the other handle back while wanting to rotate or turn to one side (e.g., yaw). The guest 22 can adjust their skeletal features (e.g., limbs) to indicate their intentions during the ride. For example, the guest 22 can bend their arms at the elbows while wanting to rotate forward (e.g., pitch), and / or can straighten their arms at the elbows while the guest 22 wants to rotate backward (e.g., pitch). Similarly, guest 22 may bend one elbow and straighten the other while wishing to rotate or pivot (eg, yaw) to one side.

[0041] The vehicle controller 14 may process signals from the array of weight sensors 326, grip sensors 328, and / or skeletal sensors 330 (e.g., alone or in combination with other signals, such as signals from head position sensors 322 and / or eye position sensors 324) to determine the intention of the guest 22. As described above, in response to determining the intention and corresponding intended movement, the vehicle controller 14 may reduce the resistance of the spring leaves 32 to the intended movement (e.g., to allow the guest 22 to move the spring leaves 32 more easily) and / or actively adjust the spring leaves 32 to achieve the intended movement (e.g., moving the spring leaves 32).

[0042] In some embodiments, the vehicle controller 14 may receive additional input (e.g., signals) regarding vehicle elements, such as virtual features, being presented to the guest 22 via the VR equipment 24. The vehicle controller 14 may use this additional input to determine the intent of the guest 22. For example, if the additional input indicates that the guest 22 is being presented with a virtual road that turns left, the vehicle controller 14 may determine that turning left (e.g., yaw) is the intent of the guest 22. In response to determining the intent and the corresponding intended movement, the vehicle controller 14 may reduce the resistance of the spring leaf 32 to the intended movement (e.g., to allow the guest 22 to pivot the spring leaf 32 more easily) and / or actively adjust the spring leaf 32 to achieve the intended movement (e.g., pivoting the spring leaf 32).

[0043] It should be understood that vehicle elements can be used as one of many inputs (e.g., in addition to signals from one or more sensors) to determine the intent of guest 22. In some embodiments, vehicle elements can be used as secondary inputs, such as when signals from one or more sensors contradict each other (e.g., regarding the intent of guest 22). For example, if signals from at least a first sensor (e.g., head position sensor 322) indicate that guest 22 intends to turn left, while signals from at least a second sensor (e.g., grip sensor 328) indicate that guest 22 intends to turn right, vehicle controller 14 can consider the vehicle elements to determine the intent of guest 22 and / or to determine an appropriate manner to control actuator system 300 to provide guest 22 with an enjoyable ride experience (e.g., that is most consistent or coordinated with the vehicle elements, such as turning left where the virtual road turns left).

[0044] It should be understood that the ride elements can be virtual elements presented via the VR equipment 24. In embodiments, such as when the VR equipment 24 is not used during the ride cycle, the ride elements can include actual physical elements within the attraction 10. Whether virtual or actual physical elements, the ride elements can include any of a variety of objects and / or effects, such as roads, buildings, characters (e.g., animals, robots), flashing lights, or sounds. For example, depending on the ride element, the vehicle controller 14 can determine or consider that the guest's 22 intent is to lean toward the ride element (e.g., to follow a character because they are interested in the character) or lean away from the ride element (e.g., to avoid a sound because they are frightened by the sound).

[0045] The ride vehicle controller 14 may also control the actuator system 300 in different ways throughout the ride cycle (e.g., while the guest 22 is riding on the ride vehicle 16, between entering and exiting the ride vehicle 16). For example, the ride cycle may include a first portion in which the actuator system 300 operates in a semi-passive mode that allows the guest 22 to control the movement of the ride vehicle 16 (e.g., by shifting their weight), and a second portion in which the actuator system 300 operates in an active mode that actively drives the movement of the ride vehicle 16 and / or prevents the guest 22 from controlling the movement of the ride vehicle 16 (e.g., by shifting their weight). As another example, the ride cycle may include a first portion in which the actuator system 300 operates in a semi-passive mode with relatively low resistance (e.g., over a relatively low resistance range) that allows the guest 22 to control the movement of the ride vehicle 16 with relatively small body movements (e.g., by weight shifting), and a second portion in which the actuator system 300 operates in a semi-passive mode with relatively high resistance (e.g., over a relatively high resistance range) that allows the guest 22 to control the movement of the ride vehicle 16 with relatively large body movements (e.g., by weight shifting). Thus, movement (e.g., weight shifting) during the first portion of the ride cycle may cause a first movement of the spring leaf 32, while movement during the second portion of the ride cycle may cause a second movement of the spring leaf 32 (or no movement of the spring leaf 32). The ride vehicle controller 14 may also adjust resistance over the duration of the ride cycle by increasing resistance in response to determining that the ride cycle is nearing completion, determining that the guest 22 is entering a particular area of ​​the simulated environment supported by the VR equipment 24, determining that the guest 22 has performed a particular task within the simulated environment, and determining that the guest 22 has provided user input indicating a requested resistance adjustment, etc.By varying the type of control (e.g., semi-passive, active) and / or resistance, different experiences can be simulated during the ride cycle, such as driving along a road with easy control of the ride vehicle 16 during fair weather conditions, and then being swept along a road with difficulty (or no control) of the ride vehicle 16 during bad weather. In this manner, the vehicle controller 14 controls the actuator system 300 in coordination with the ride cycle and / or ride elements presented to the guest 22.

[0046] In some embodiments, the vehicle controller 14 can control the actuator system 300 to prompt and / or bring about a particular outcome. Additionally, the VR controller 26 can also present virtual features to prompt and / or bring about a particular outcome. For example, the vehicle controller 14 can control the actuator system 300 to reduce resistance to movement in one direction (e.g., relative to another direction) to prompt the guest 22 to shift their weight to steer the ride vehicle 16 in that direction (e.g., by making it easier for the guest 22 to do so). At the same time, the VR controller 26 can present a virtual feature, such as a road obstacle, to prompt the guest 22 to shift their weight to steer the ride vehicle 16 in a direction that avoids the virtual feature. In this way, the vehicle controller 14 and / or the VR controller 26 can affect the movement of the ride vehicle 16 while giving the guest 22 the feeling that they are in control of the ride vehicle 16.

[0047] As described above, the intent of the guest 22 can be determined based on various factors (e.g., inputs, signals), such as head position and / or movement, eye position and / or movement, body position and / or movement, and / or vehicle elements. The vehicle controller 14 can input various factors into an algorithm, which can include a lookup table (e.g., relating various detected movements to corresponding changes in resistance and / or operation of the actuator system 300), to determine the intent of the guest 22. In some embodiments, the algorithm can apply different weights to various factors. For example, the head position and / or movement of the guest 22 can be weighted highest. In some embodiments, machine learning can be used to associate various factors with intent. As used herein, machine learning can refer to mathematical models that can be used to perform tasks (e.g., make predictions or decisions) by relying on patterns and inference rather than using explicit instructions. These mathematical models can be generated using training data (e.g., sample data, historical data).

[0048] In some embodiments, it may be desirable to control the actuator system 300 in a manner that is customized (e.g., personalized) for the guest 22. As described above, each guest 22 may have particular characteristics that affect their ability to shift their weight to move the ride vehicle 16. For example, a first guest may have a lighter weight, a lower activity level, and / or lower mobility. Meanwhile, a second guest may have a heavier weight, a higher activity level, and / or higher mobility. Without the disclosed embodiments (e.g., without dynamically adjusting the resistance to movement of the spring plate 32), it may be difficult to account for the different characteristics of the first and second guests and provide an enjoyable experience for both of these guests. For example, the first guest may have difficulty moving the ride vehicle 16 by shifting their weight, while the second guest may be able to easily move the ride vehicle 16 by shifting their weight. Thus, in some embodiments, the vehicle controller 14 may access and / or identify the characteristics of the guest 22 and control the actuator system 300 in a manner appropriate for the characteristics of the guest 22. The vehicle controller 14 may set resistance appropriate to the characteristics of the guest 22, limit positions of the spring leaves 32 (e.g., maximum roll, pitch, and / or yaw) appropriate to the characteristics of the guest 22, or the rate of change of position of the spring leaves 32 when actively driving the spring leaves 32, etc. The ride vehicle controller 14 may also access and / or identify the skill level of the guest 22, which may be based on the number of ride cycles the guest 22 has previously completed. In this manner, the vehicle controller 14 may accommodate guests with less skill or experience by adjusting extremes of motion that suggest different intentions than guests with more skill or experience. Generally, one motion by one guest may suggest different intentions than the same motion by another guest, so the algorithm (e.g., look-up table) may account for variations in motion by different guests (e.g., by considering characteristics including skill level).

[0049] In some embodiments, ride vehicle controller 14 may determine characteristics of guest 22 during an initial portion of the ride cycle (e.g., during a calibration portion of the ride cycle, during a first time period during and / or after the ride). For example, weight sensor array 326 may obtain guest 22's weight and skeletal sensor 330 may determine guest 22's size (e.g., height) during the initial portion of the ride cycle. Additionally, guest 22 may move in various ways during the initial portion of the ride cycle (e.g., as prompted by actuator system 300 and / or VR device 24 in response to commands that may be presented via VR device 24). At this time, one or more sensors (e.g., head position sensor 322, eye position sensor 324, array of weight sensors 326, grip sensor 328, and / or skeletal sensor 330) may monitor the position(s) and / or movement(s) of guest 22. This movement may be indicative of the activity level and / or mobility of the guest 22 (e.g., the intensity of input that the guest 22 can and / or is likely to provide while aboard the ride vehicle 16). Ultimately, the vehicle controller 14 may determine the activity level and / or mobility of the guest 22 based on signals received from one or more sensors.

[0050] The weight, size, activity level, and / or mobility of the guest 22 can affect or influence how the guest 22 moves while located on the ride vehicle 16. In some embodiments, the vehicle controller 14 can classify the guest 22 (e.g., based on characteristics) and / or control the actuator system 300 throughout at least some or all of the remainder of the ride cycle (e.g., after an initial portion of the ride cycle) based on the characteristics of the guest 22. For example, the actuator system 300 can be controlled to provide a resistance that varies over a low resistance range for a first guest and a resistance that varies over a high resistance range for a second guest.

[0051] In some embodiments, during the initial portion of the ride cycle, the ride vehicle controller 14 may determine which input(s) the guest 22 utilizes or prefers to attempt to control the ride vehicle 16. For example, the vehicle controller 14 may determine that the first guest primarily uses one type of input (e.g., changing grip) and / or minimally or not at all uses another type of input (e.g., weight shifting). In such a case, the actuator system 300 may be controlled to actively actuate the spring leaf 32 in response to the first guest's change in grip rather than relying on the first guest's weight shift. Alternatively, the actuator system 300 may be controlled to reduce resistance in response to determining a user's intent based on the first guest's change in grip, thereby facilitating the first guest 22 to subsequently move the spring leaf 32 with their own weight. Thus, by shifting their weight and / or moving in other ways (e.g., changing their grip), each guest can have a movement experience that makes them feel as though they are in control of the ride vehicle 16 (e.g., the ride vehicle 16 is responding to their movements). Importantly, each guest can have a movement experience even if they have certain physical limitations and / or do not exert excessive effort, thereby providing a more enjoyable experience for all guests.

[0052] Additionally, the vehicle controller 14 may operate the ride vehicle 16 in an active mode for certain guests and not for other guests. Alternatively, the vehicle controller 14 may operate the ride vehicle 16 in an active mode more frequently for certain guests and less frequently for other guests. For example, the vehicle controller 14 may provide motion using the active mode more frequently for a first guest and less frequently for a second guest (because the second guest has a greater ability to shift their weight to move the ride vehicle 16). In some embodiments, the vehicle controller 14 may switch from operating the ride vehicle 16 in a semi-passive mode to operating in an active mode in response to failing to detect a weight shift of the guest 22 and / or in response to failing to detect movement of the ride vehicle 16 (e.g., expected movement, in a certain direction) after determining that the guest 22's intent is to move the ride vehicle 16 (in that direction). For example, the vehicle controller 14 may reduce resistance to movement of the ride vehicle 16 after determining intent based on signals indicative of one or more of head movement of the guest 22, eye movement of the guest 22, a change in grip of the guest 22, and / or a change in limb positioning of the guest 22. However, if the ride vehicle 16 does not move within a certain time period after the resistance reduction, the vehicle controller 14 may switch to operating in an active mode to cause movement of (e.g., in the direction of) the ride vehicle 16.

[0053] In some embodiments, the characteristics of the guest 22 may be stored in a database (e.g., as a stored profile for the guest 22). An identifier for the guest 22 may also be stored along with the characteristics of the guest 22. The ride vehicle controller 14 may then access the characteristics from the database during subsequent rides by the guest 22 and control the actuator system 300 in a manner appropriate for the guest 22 (e.g., without and / or in addition to monitoring during the initial portion of the ride cycle). For example, the guest 22 may wear an identification device (e.g., a wearable device having a radio frequency identification (RFID) tag unique to the guest 22). In such a case, when the guest 22 is riding in the ride vehicle 16, an RFID reader communicatively coupled to the vehicle controller 14 may read an identifier (e.g., a code) from the RFID tag and store the identifier in association with a characteristic of the guest 22. The RFID reader may then again read the identifier from the RFID tag during subsequent rides by the guest 22 and provide the identifier to the vehicle controller 14 so that the vehicle controller can access the characteristics of the guest 22 from the database. It should also be appreciated that the guest 22 may input the identifier and / or characteristics via an input device (e.g., via a touch screen on the ride vehicle 16 or in the queue for the attraction 10 prior to entering the amusement park). In some embodiments, the guest 22 may input preferences regarding the resistance (e.g., low or high level of resistance) and / or movement (e.g., low or high level of movement) that they wish to experience in the ride vehicle 16. These preferences may be stored in a database and associated with the identifier.

[0054] It should be appreciated that the vehicle controller 14 may also receive signals indicative of the position (e.g., tilt) and / or movement of the ride vehicle 16 from one or more ride vehicle sensors 340. For example, the ride vehicle sensors 340 may include an inclinometer, an accelerometer, and / or a position sensor. As a result, the vehicle controller 14 may control the actuator system 300 based on the signals from the one or more ride vehicle sensors 340 and the intent of the guest 22. In this manner, the ride vehicle controller 14 may take into account the current position of the ride vehicle 16 when controlling the actuator system 300 to reduce resistance to movement of the spring leaf 32 and / or to actively actuate the spring leaf 32. For example, if the ride vehicle 16 has already reached a limit position in a certain direction (e.g., maximum roll, pitch, and / or yaw), the vehicle controller 14 may not further reduce resistance in that direction and / or not actively actuate the spring leaf 32 to move in that direction. Similarly, if the ride vehicle 16 is already turning left (e.g., as determined by the vehicle controller 14) and the guest 22's intent is to move right, the vehicle controller 14 may adjust resistance and / or drive the ride vehicle 16 to reach a center or neutral position (e.g., rather than turning the ride vehicle 16 right). Signals from one or more ride vehicle sensors 340 may also be utilized by the VR controller 26 to provide a virtual image to the guest 22 corresponding to the movement of the ride vehicle 16.

[0055] As described above, the actuator system 300 can operate in a semi-passive mode to provide resistance to movement of the leaf 32 (e.g., via movement of the actuator plate 70 in FIG. 1 or via the torque output of the motors 220 in FIGS. 2 and 3 ). In some such cases, the vehicle controller 14 can refer to the resistance setting database 332 to determine a particular target resistance (e.g., appropriate for the characteristics of the guest 22 and / or the ride cycle) and settings for the actuator system 300 (e.g., the position of the actuator plate 70 in FIG. 1 or the torque output of the motors 220 in FIGS. 2 and 3 ) to achieve the particular target resistance. Additionally or alternatively, the actuator system 300 can position the leaf 32 by operating in an active mode in which the leaf 32 is driven to move (e.g., in FIGS. 2 and 3 , one or more motors 220 are commanded to output a torque that overcomes the force exerted by the guest 22 on the leaf 32). Indeed, in the active mode, the vehicle controller 14 can operate the actuator system 300 to move the leaf 32 in a desired manner (e.g., to a target position or orientation) instead of allowing the guest 22 to drive the movement of the leaf 32 (e.g., as in the semi-passive mode). For example, the vehicle controller 14 can operate in the active mode to move the leaf 32 to provide a particular sensation and ride experience for the guest 22. The vehicle controller 14 can use the intent of the guest 22 and the current position of the leaf 32 to determine an appropriate manner to control the actuator system 300 to move the leaf 32 (e.g., an appropriate torque to be output by one or more motors 220 to produce the desired movement of the leaf 32). It should be understood that the vehicle controller 14 can also receive feedback or input indicative of the current resistance (e.g., the length of the actuator 74 in FIG. 1 or the torque output by the motor 220 in FIGS. 2 and 3 ) so that the vehicle controller 14 can appropriately adjust the resistance of the guest 22.

[0056] The vehicle controller 14 may be included in the housing or chassis of the ride vehicle 16, or may be located remotely from the ride vehicle 16 to coordinate the operation of multiple ride vehicles 16. The vehicle controller 14 includes a processor 90 that provides instructions to the actuator system 300 and a memory 92 that stores instructions for the processor 100. The memory 92 may also store a resistor setting database 332. However, it should be understood that any component may be suitably stored in and updated from any suitable location, such as in a cloud database. The processor 90 may include one or more processors capable of executing instructions to perform the presently disclosed techniques, such as a general-purpose processor, a system-on-chip (SoC) device, an application-specific integrated circuit (ASIC), or any other similar processor configuration. In some embodiments, these instructions are encoded in a program or code stored in a tangible, non-transitory computer-readable medium, such as the memory 92 and / or other storage circuitry or storage device. It should be understood that the processing steps and techniques disclosed herein may be performed by the vehicle controller 14 alone or in conjunction with another controller communicatively coupled to the vehicle controller 14 (e.g., in conjunction with the VR controller 26 and / or in conjunction with any other type of additional controller, such as a guest tracking controller that receives, transmits and / or processes signals indicative of the position and / or movement of the guest 22).

[0057] 5 is a flow diagram illustrating an embodiment of a method 400 for controlling an actuator system of a ride vehicle. The method 400 disclosed herein includes various steps, represented by blocks. It should be noted that at least some of the steps of the method 400 may be performed as an automated procedure by a computer system, such as a vehicle controller. Although the flowchart depicts the steps in a specific order, it should be understood that the steps may be performed in any suitable order, and that some steps may be performed simultaneously, where appropriate. Additionally, steps may be added to or omitted from the method 400.

[0058] As shown, method 400 may begin at step 402 by receiving a signal indicative of a position and / or movement of a guest supported within the ride vehicle. The signal may include a signal from a head position sensor indicative of the position and / or movement of the guest's head. Additionally or alternatively, the signal may include a signal from an eye position sensor indicative of the position and / or movement of one or both of the guest's eyes. Additionally or alternatively, the signal may include a signal from an array of weight sensors indicative of the guest's weight shift. Additionally or alternatively, the signal may include a signal from a grip sensor indicative of the guest's grip strength, hand position, and / or hand movement. Additionally or alternatively, the signal may include a signal from a skeletal sensor indicative of the guest's skeletal position and / or movement (e.g., limb position and / or movement). For example, one or more signals indicative of one or more positions and / or movements of the guest may be received at a vehicle controller.

[0059] Method 400 may then proceed to determine the guest's intent (e.g., how the guest desires or intends to move the ride vehicle, intended ride vehicle movement) based on the signals, as shown in step 404. It is currently recognized that position(s) and / or movement(s) can indicate the guest's intent. For example, a guest may move their head to the left if they desire to turn or move the ride vehicle to the left. The vehicle controller may use one or more algorithms to determine the guest's intent based on the signals. As described herein, the ride vehicle controller may also consider ride factors to determine the guest's intent.

[0060] Method 400 may also include receiving a signal indicative of a position (e.g., tilt) of the ride vehicle, as shown in step 406. The signal may include a signal from a ride vehicle sensor coupled to the ride vehicle and may be received at a ride vehicle controller. Method 400 may include controlling an actuator system, at step 408, based on the guest's intent and the position of the ride vehicle. For example, the vehicle controller may instruct the actuator system to adjust resistance to movement of the ride vehicle's spring plates to adjust the ride vehicle's response to weight shifts by the guest (e.g., to make it easier or more difficult for the guest to rotate the spring plates). In some embodiments, the vehicle controller may instruct the actuator system to actively actuate the ride vehicle's spring plates. As described herein, the vehicle controller may also perform other steps, such as determining guest characteristics, accessing a resistance setting database, and determining appropriate resistance settings based on the guest characteristics and / or ride cycle, to provide a motion experience to the guest. Additionally, the vehicle controller may control the actuator system to coordinate the motion experience with a visual experience that may be presented to the guest via the VR device. For example, the ride vehicle controller may adjust the resistance to movement of the spring leaf based on the visual experience (e.g., to provide the guest with less control during some portions of the ride cycle and more control during other portions of the ride cycle).

[0061] The technical effects of the disclosed ride vehicle control systems include enabling dynamic adjustment of ride vehicle resistance and / or actively controlling the movement of the ride vehicle based on various inputs from guests within the ride vehicle. The disclosed ride vehicle control systems provide an improved experience for guests with various characteristics.

[0062] While only certain features of the present disclosure have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the present disclosure. It is to be understood that any of the features shown or described in connection with the above-described figures may be combined in any suitable manner.

[0063] The technology shown and claimed herein refers to and applies to tangible objects and specific examples of a practical nature that will materially improve the art, and thus are not abstract, intangible, or purely theoretical. Furthermore, where any claim appended at the end of this specification contains one or more elements designated as "means for [performing] ... [function]" or "step for [performing] ... [function]," such elements are to be construed pursuant to 35 U.S.C. 112(f). Conversely, for any claim containing elements designated in any other manner, such elements are not to be construed pursuant to 35 U.S.C. 112(f). [Explanation of symbols]

[0064] 10 Attractions 12 Vehicle Control System 14 Vehicle Controller 14 16 Vehicles 20 seats 22 guests 24 VR equipment 26 VR controllers 30 Top surface of spring plate 32 Spring Plate 34 Spring 36 Bottom of spring plate 40 base 42 Support beam 44 Strut 46 Pivot joint 50 rolls 52 pitches 54 Ground 56 yo 60 Support Assembly 62 processors 64 memory 66 Communication Components 70 Actuator Plate 72 Vertical axis 74 Actuator 76 separation distance 80 Top surface of actuator plate 90 processors 92 memory

Claims

1. 1. A ride vehicle control system for an attraction ride vehicle, comprising: a plurality of sensors configured to monitor guests supported by the ride vehicle; an actuator system configured to couple to the ride vehicle; one or more processors; wherein the one or more processors: receiving signals from the plurality of sensors indicative of the location of the guest, the movement of the guest, or both; determining an intended movement of the ride vehicle based on the signal; controlling the actuator system to adjust resistance to movement of the ride vehicle, adjust forces applied to the ride vehicle, or both to facilitate the intended movement; A vehicle control system configured as follows.

2. The ride vehicle control system of claim 1 , wherein the plurality of sensors includes a head position sensor, and the signals include one or more signals indicative of the guest's head position, the guest's head movement, or both.

3. 2. The ride vehicle control system of claim 1, wherein the plurality of sensors includes eye position sensors, and the signals include one or more signals indicative of the position of one or both of the guest's eyes, the movement of one or both of the guest's eyes, or both.

4. 2. The ride vehicle control system of claim 1, wherein the plurality of sensors includes grip sensors, and the signals include one or more signals indicative of grip force, a position of the guest's grip, a movement of the guest's grip, or any combination thereof.

5. 10. The ride vehicle control system of claim 1, wherein the plurality of sensors includes skeletal sensors, and the signals include one or more signals indicative of a position of the guest's limbs, a movement of the guest's limbs, or both.

6. The actuator system comprises: one or more motors; one or more linkage systems configured to couple the one or more motors to the ride vehicle; Including, the one or more processors are configured to adjust resistance to motion of the ride vehicle by controlling output torque of the one or more motors. The ride vehicle control system of claim 1 .

7. The ride vehicle control system of claim 1 , wherein the one or more processors are configured to control the presentation of virtual images to the guest via a VR device worn by the guest.

8. 8. The ride vehicle control system of claim 7, wherein the one or more processors are configured to determine the intended movement of the ride vehicle based on the signal and the virtual image being presented to the guest via the VR device worn by the guest.

9. 10. The ride vehicle control system of claim 1, wherein the actuator system is configured to operate in a semi-passive mode that allows the guest to move the ride vehicle by shifting their body weight.

10. 1. A ride vehicle control system for an attraction ride vehicle, comprising: one or more processors, the one or more processors receiving a first signal from a head position sensor indicative of a guest's head position supported by the ride vehicle, a movement of the guest's head, or both; determining an intended movement of the ride vehicle based on the first signal; controlling an actuator system to adjust resistance to movement of the ride vehicle, adjust forces applied to the ride vehicle, or both to facilitate the intended movement; A vehicle control system configured as follows.

11. The one or more processors: receiving a second signal from an eye position sensor indicative of an eye position of one or both of the guest's eyes, an eye movement of one or both of the guest's eyes, or both; determining the intended movement of the ride vehicle based on the first signal and the second signal; 11. The ride vehicle control system of claim 10 configured to:

12. The one or more processors: receiving a third signal from the grip sensor indicative of a grip force, a grip position of the guest, a grip movement of the guest, or any combination thereof; determining the intended movement of the ride vehicle based on the first signal, the second signal, and the third signal.

12. The ride vehicle control system of claim 11 configured to:

13. The one or more processors: receiving a fourth signal from a skeletal sensor indicative of a position of the guest's limb, a movement of the guest's limb, or both; determining the intended movement of the ride vehicle based on the first signal, the second signal, and the fourth signal.

12. The ride vehicle control system of claim 11 configured to:

14. The one or more processors: controlling presentation of a virtual image to the guest via a VR device worn by the guest; determining the intended movement of the ride vehicle based on the first signal and the virtual image being presented to the guest via the VR device worn by the guest; 11. The ride vehicle control system of claim 10 configured to:

15. the actuator system, one or more motors; one or more linkage systems configured to couple the one or more motors to the ride vehicle; Including, the one or more processors are configured to control output torque of the one or more motors to adjust resistance to movement of the ride vehicle to facilitate the intended movement.

11. The ride vehicle control system of claim 10.

16. The one or more processors: determining one or more characteristics of the guest, including a characteristic corresponding to a weight of the guest; controlling the actuator system to adjust the resistance based on the one or more characteristics of the guest to facilitate the intended movement.

11. The ride vehicle control system of claim 10 configured to:

17. 17. The ride vehicle control system of claim 16, wherein the one or more processors are configured to determine the one or more characteristics of the guest during a calibration portion of a ride cycle.

18. 11. The ride vehicle control system of claim 10, wherein the one or more processors are configured to operate the actuator system in a semi-passive mode that allows the guest to move the ride vehicle by shifting their weight.

19. The ride vehicle control system of claim 10 , wherein the one or more processors are configured to operate the actuator system in an active mode to drive the ride vehicle according to the intended movement.

20. 1. A method of operating a ride vehicle control system, comprising: receiving, at one or more processors, a first signal from a head position sensor indicative of a position of a guest's head supported by the ride vehicle, a movement of the guest's head, or both; determining, using the one or more processors, an intended movement of the ride vehicle based on the first signal; and using the one or more processors to control an actuator system to adjust resistance to movement of the ride vehicle, adjust forces applied to the ride vehicle, or both, to facilitate the intended movement by the guest shifting their weight; A method comprising:

21. 1. A ride vehicle control system, comprising: a computer system including one or more processors; a memory for storing instructions; the instructions comprising: receiving one or more signals from one or more sensors indicative of a location of a guest within a ride vehicle, a movement of the guest within the ride vehicle, or any combination thereof; determining an intended movement of the ride vehicle based on the one or more signals; commanding an actuator system to adjust resistance to motion of the ride vehicle, to cause motion of the ride vehicle, or any combination thereof to facilitate the intended motion; a vehicle control system executable by the computer system to cause the computer system to perform the following:

22. 22. The ride vehicle control system of claim 21, including the one or more sensors, at least one of the one or more sensors located within the ride vehicle.

23. 22. The ride vehicle control system of claim 21, wherein the one or more sensors include at least one head position sensor, and the one or more signals include at least one signal indicative of a head position of the guest, a movement of the guest's head, or any combination thereof.

24. 22. The ride vehicle control system of claim 21, wherein the one or more sensors include at least one eye position sensor, and the one or more signals include at least one signal indicative of the guest's eye position, the guest's eye movement, or any combination thereof.

25. 22. The ride vehicle control system of claim 21, wherein the one or more sensors include at least one grip sensor, and the one or more signals include at least one signal indicative of a position of the guest's grip, a movement of the guest's grip, or any combination thereof.

26. 22. The ride vehicle control system of claim 21, wherein the one or more sensors include at least one skeletal sensor, and the one or more signals include at least one signal indicative of a position of a limb of the guest, a movement of a limb of the guest, or any combination thereof.

27. 22. The ride vehicle control system of claim 21, wherein the one or more sensors include an array of weight sensors, and the one or more signals include at least one signal indicative of a position of the guest based on a weight of the guest, a movement of the guest based on a shift in the guest's weight, or any combination thereof.

28. 22. The ride vehicle control system of claim 21, wherein the instructions are executable by the computer system to cause the computer system to control the presentation of virtual images to the guest via a virtual reality (VR) device worn by the guest.

29. 29. The ride vehicle control system of claim 28, wherein the instructions are executable by the computer system to cause the computer system to determine the intended movement of the ride vehicle based on the one or more signals and the virtual image presented to the guest via a VR device worn by the guest.

30. The instruction: determining one or more characteristics of the guest; determining that the guest is suitable for active mode operation based on the one or more characteristics of the guest; in response to determining that the active mode of operation is appropriate for the guest, providing commands to the actuator system to cause movement of the ride vehicle to facilitate the intended movement while the guest is located within the ride vehicle; 22. The ride vehicle control system of claim 21, executable by said computer system to cause said computer system to perform the following:

31. The instruction: determining one or more characteristics of each of the additional guests; determining that semi-passive mode operation is suitable for the additional guests based on the one or more characteristics of each of the additional guests; instructing the actuator system to adjust resistance to movement of the ride vehicle to facilitate the intended movement while the additional guest is located within the ride vehicle in response to determining that the semi-passive mode of operation is appropriate for the additional guest; 31. The ride vehicle control system of claim 30, executable by said computer system to cause said computer system to:

32. 1. A ride vehicle control system, comprising: a computer system including one or more processors; a memory for storing instructions; the instructions comprising: processing one or more signals received from one or more sensors to determine guest behavior of the guest relative to the ride vehicle, the one or more signals including the guest's position within the ride vehicle, the guest's movement within the ride vehicle, or any combination thereof; determining an intended movement of the ride vehicle based on guest actions of the guest relative to the ride vehicle; commanding an actuator system to adjust resistance to motion of the ride vehicle, to cause motion of the ride vehicle, or any combination thereof to facilitate the intended motion; a vehicle control system executable by the computer system to cause the computer system to perform the following:

33. 33. The ride vehicle control system of claim 32, wherein the one or more signals include at least one signal indicative of a weight shift of the guest relative to the ride vehicle.

34. 33. The ride vehicle control system of claim 32, wherein the one or more signals include at least one signal indicative of guest movement of the guest's head, guest movement of the guest's eyes, guest movement of the guest's limbs, or any combination thereof.

35. 33. The ride vehicle control system of claim 32, including the ride vehicle, the ride vehicle including a moveable portion and a base portion, and the instructions are executable by the computer system to cause the computer system to instruct the actuator system to move the moveable portion relative to the base portion to cause ride vehicle movement of the ride vehicle.

36. 33. The ride vehicle control system of claim 32, wherein the instructions are executable by the computer system to cause the computer system to command the actuator system to cause ride vehicle movement of the ride vehicle based on guest action of the guest relative to the ride vehicle and a virtual image presented to the guest via a virtual reality (VR) device worn by the guest within the ride vehicle.

37. 33. The ride vehicle control system of claim 32, wherein the instructions are executable by the computer system to cause the computer system to instruct the actuator system to actuate at least a portion of the ride vehicle in a manner correlated with guest actions of the guest relative to the ride vehicle.

38. The instruction: processing the one or more signals received from one or more sensors to determine that guest motion of the guest relative to the ride vehicle includes at least a portion of the guest leaning in a first direction; commanding the actuator system to cause ride vehicle movement of the ride vehicle by driving at least a portion of the ride vehicle in the first direction; 33. The ride vehicle control system of claim 32, executable by said computer system to cause said computer system to perform the following:

39. 1. A method of operating a ride vehicle control system, comprising: receiving one or more signals from one or more sensors indicative of one or more guest inputs including a guest's position within a ride vehicle, a guest's movement within the ride vehicle, or any combination thereof; determining an intended movement of the ride vehicle based on a position of the guest within the ride vehicle, a movement of the guest within the ride vehicle, or any combination thereof, to enable the guest to control the ride vehicle via the one or more guest inputs; commanding an actuator system to adjust resistance to movement of the ride vehicle, to cause movement of the ride vehicle, or any combination thereof to facilitate the intended movement; A method comprising:

40. processing the one or more signals received from the one or more sensors to determine that movement of the guest within the ride vehicle includes at least a portion of the guest leaning in a first direction; commanding an actuator system to move the ride vehicle based on movement of the guest within the ride vehicle by driving at least a portion of the ride vehicle in the first direction; 40. The method of claim 39, comprising:

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