Motion Generation Platform Components

Abstract

An amusement ride system includes: a base; an amusement ride vehicle; a platform assembly positioned between the base and the amusement ride vehicle; and an extension mechanism coupled to the platform assembly and positioned between the base and the amusement ride vehicle. The platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform, and the platform assembly is configured to actuate each of the six legs to move the first platform relative to the second platform in different configurations depending on which of the six legs is actuated. The extension mechanism is configured to extend and retract to move the amusement ride vehicle away from and toward the base of the amusement ride system, respectively.

Description

[0001] This application is a divisional application of the Chinese patent application with application number 201880010931.6, application date February 8, 2018, and name “Motion Generation Platform Component”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application claims priority to and the benefit of U.S. Patent Application No. 62 / 456,506, filed February 8, 2017, entitled “Inverted Stewart Platform and Flying Reaction Deck,” which is incorporated herein by reference in its entirety for all purposes. Technical Field

[0004] The present disclosure relates generally to the field of amusement parks. More specifically, embodiments of the present disclosure relate to systems and methods for amusement rides with features that enhance the visitor experience. Background Art

[0005] Various amusement rides and exhibits have been created to provide visitors with unique interactive, motion, and visual experiences. For example, conventional amusement rides may include vehicles that travel along a track. The track may include portions that induce motion (e.g., turns, drops) on the vehicle or actuate the vehicle. However, conventional amusement ride vehicle actuation (e.g., via a curved track) can be expensive and may require a large ride footprint. Furthermore, conventional amusement ride vehicle actuation (e.g., via a curved track) may be limited with respect to certain desired motions and, therefore, may not produce the desired sensation for passengers. Therefore, improved amusement ride vehicle actuation is desired. Summary of the Invention

[0006] The following summarizes certain embodiments that are commensurate in scope with the originally claimed subject matter. These embodiments are not intended to limit the scope of the present disclosure, but rather, these embodiments are intended only to provide a brief summary of certain disclosed embodiments. Indeed, the present disclosure may encompass various forms that may be similar or different from the embodiments set forth below.

[0007] In one embodiment, an amusement ride system includes: a base; an amusement ride vehicle; a platform assembly positioned between the base and the amusement ride vehicle; and an extension mechanism coupled to the platform assembly and positioned between the base and the amusement ride vehicle. The platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform, and the platform assembly is configured to actuate each of the six legs to move the first platform relative to the second platform in different configurations depending on which of the six legs is actuated. The extension mechanism is configured to extend and retract to move the amusement ride vehicle away from and toward the base of the amusement ride system, respectively.

[0008] In another embodiment, an amusement ride system includes a platform assembly, wherein the platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform. The first platform includes a first anchoring location to which a first and second leg of the six legs are coupled; a second anchoring location to which a third and fourth leg of the six legs are coupled; and a third anchoring location to which a fourth and fifth leg of the six legs are coupled. The second platform includes a fourth anchoring location to which the third and sixth legs are coupled; a fifth anchoring location to which the second and fifth legs are coupled; and a sixth anchoring location to which the first and fourth legs are coupled. When the six legs are equal in length, the first anchoring location is aligned with the fourth anchoring location, when the six legs are equal in length, the second anchoring location is aligned with the fifth anchoring location, and when the six legs are equal in length, the third anchoring location is aligned with the sixth anchoring location.

[0009] In another embodiment, a method of operating an amusement ride vehicle includes supporting the amusement ride vehicle beneath a track of an amusement ride system via a plurality of cables. The method further includes monitoring forces in the amusement ride system via a controller. The method further includes commanding a plurality of motors corresponding to the plurality of cables via the controller to adjust torque outputs of the plurality of motors based on the monitored forces in the amusement ride system. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters represent like parts throughout the figures, wherein:

[0011] Figure 1 is a schematic diagram of an embodiment of an amusement ride system having a platform assembly, an extension mechanism, and feedback control features according to an embodiment of the present disclosure;

[0012] Figure 2is a schematic diagram of a side view of an embodiment of an amusement ride system including a suspended reaction deck having a platform assembly with an inverted Stewart platform according to an embodiment of the present disclosure;

[0013] Figure 3 According to an embodiment of the present disclosure Figure 2 A schematic diagram of a side view of an embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform;

[0014] Figure 4 According to an embodiment of the present disclosure Figure 2 A schematic diagram of a perspective view of an embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform;

[0015] Figure 5 is a schematic diagram of a side view of another embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure;

[0016] Figure 6 is a schematic diagram of a perspective view of an embodiment of an inverted Stewart platform according to an embodiment of the present disclosure;

[0017] Figure 7 According to an embodiment of the present disclosure Figure 6 A schematic diagram of a perspective view of an embodiment of an inverted Stewart platform;

[0018] Figure 8 According to an embodiment of the present disclosure Figure 6 A schematic diagram of a perspective view of an embodiment of an inverted Stewart platform;

[0019] Figure 9 is a schematic diagram of a perspective view of another embodiment of an inverted Stewart platform according to an embodiment of the present disclosure;

[0020] Figure 10 According to an embodiment of the present disclosure Figure 9 A schematic diagram of a perspective view of an embodiment of an actuator utilized in an inverted Stewart platform;

[0021] Figure 11 is a schematic diagram of a side view of another embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure;

[0022] Figure 12 is a schematic diagram of a side view of another embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure;

[0023] Figure 13 is a schematic diagram of a side view of another embodiment of an amusement ride system having a suspended reaction deck with an inverted Stewart platform according to an embodiment of the present disclosure; and

[0024] Figure 14 is a block diagram illustrating an embodiment of a process for controlling a suspended reaction deck having a platform assembly with an inverted Stewart platform in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] One or more specific embodiments of the present disclosure will be described below. In order to provide a concise description of these embodiments, not all features of an actual implementation may be described in this specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developer's specific goals, such as compliance with system-related and business-related constraints, and the specific goals may vary from one implementation to another. Furthermore, it should be understood that such development efforts may be complex and time-consuming, but will remain a routine task of design, assembly, and manufacture for those skilled in the art having the benefit of this disclosure.

[0026] Embodiments of the present disclosure relate to amusement park rides and exhibits. Specifically, the rides and exhibits include motion-based systems and corresponding technologies designed or intended to induce certain sensations in passengers that would otherwise be impossible or significantly reduced through conventional ride systems. In the presently disclosed rides and exhibits, the rider experience can be enhanced by employing certain motion-based systems and technologies. For example, the ride system may include one or more devices that generate up to six degrees of freedom to provide passengers with sensations not typically achievable through traditional methods (e.g., turns, drops). The device may include two platforms connected by legs extending between them. The legs are connected at specific locations along the two platforms and are angled relative to the two platforms so that when the legs (or corresponding features) are actuated, the two platforms move relative to each other. According to the present disclosure, one method by which the platforms may be connected via the legs is referred to herein as an "inverted Stewart platform," which differs from a conventional Stewart platform. A conventional Stewart platform can be described as having opposing platforms connected by legs, where the legs extend in pairs from three extension areas on each of the two opposing platforms. The inverted Stewart platform includes six legs extending between opposing platforms, wherein the six legs extend from several positions along the opposing platforms and are oriented between the opposing platforms in a manner substantially different from that of a conventional Stewart platform. The different positions / orientations of the inverted Stewart platform (which will be described in detail below with reference to the accompanying drawings) are configured to, among other things, enhance the stability of the inverted Stewart platform and corresponding ride components.

[0027] Generally speaking, the first of the two platforms of the aforementioned inverted Stewart platform can be coupled to (or correspond to) a vehicle of an amusement park ride or exhibit, while the second of the two platforms can be coupled to (or correspond to) the track of the amusement park ride (or the base of the exhibit). In some embodiments, an extension mechanism can be positioned between the first platform and the ride vehicle, or between the second platform and the track or base. The legs coupling the first and second platforms can be controlled (e.g., retracted, extended, or otherwise actuated) to move the first platform relative to the second platform, thereby causing the ride vehicle coupled to (or corresponding to) the first platform to move along with the first platform. In embodiments having such an extension mechanism, the extension mechanism can be actuated independently or in conjunction with the legs of the inverted Stewart platform to enhance, supplement, or interact with the movement and corresponding sensation imparted by the inverted Stewart platform.

[0028] The presently described embodiments allow for a wide range of motion without requiring a curved track. Thus, the footprint of an amusement ride system according to this embodiment can be reduced. Furthermore, the presently disclosed embodiments can increase the range of motion of amusement ride vehicles and enable more finely tuned actuation than conventional amusement ride systems. For example, a wider range of motion can be provided via an inverted Stewart platform, which can also promote improved ride stability. Furthermore, actuation can be imparted to amusement ride vehicles without the source of the actuation being visible to the riders of the amusement ride vehicles. Thus, the presently disclosed embodiments can enhance the amusement ride experience by immersing passengers in a three-dimensional environment without a discernible track or base. In certain embodiments, the environment of the amusement ride system may include features separate from the vehicles and / or track, wherein these environmental features may be positioned, oriented, or otherwise located so as to appear as if the environmental features themselves impart actuation to the amusement ride vehicles, when, as described above, the actuation actually originates from the inverted Stewart platform and / or extension mechanism. In other words, the presently disclosed embodiments facilitate the actuation of components that are imperceptible to riders of a ride vehicle. Furthermore, the present embodiments allow ride designers to deliver simulated experiences involving displacement, velocity, acceleration, and jerk while navigating any portion of the ride track, which can save costs and engineering complexity. Furthermore, the disclosed embodiments are configured to detect and manage reaction forces associated with the movement of a ride vehicle. These and other features are described in detail below with reference to the accompanying drawings.

[0029] Further to the above points, the arrangement of motion control axes according to the present disclosure provides geometric stability for a given gross motion base volumetric envelope due to a sharper actuation angle than conventional approaches. In a preferred embodiment, this translates to a greater force component in the direction of lateral movement between the stabilizing motion base mounting planes. Furthermore, the reduced actuation angle facilitates smaller platform sizes, as described in detail below with reference to the accompanying figures.

[0030] Figure 1FIG2 is a schematic diagram of an embodiment of an amusement ride system 10 having a track 12. The track 12 may be a loop, such that a ride vehicle 14 of the amusement ride system 10 begins at one portion of the track 12 and ultimately returns to the same portion of the track 12. The track 12 may include turns, inclines, or declines, or the track (or portions thereof) may extend in a single direction. In certain embodiments, the ride vehicle 14 may travel beneath (i.e., below) the track 12 for the duration of the ride vehicle or a portion thereof. The ride vehicle 14 may include a plurality of passengers 16 seated within the ride vehicle 14. In certain embodiments, the ride vehicle 14 may include an enclosure (e.g., a cabin) to enclose the passengers 16. The passengers 16 may board and disembark from a portion of the track 12 (e.g., a terminal). In other embodiments, the track 12 may not be included or may not be used as part of the amusement ride.

[0031] Additionally, the ride vehicle 14 may also include a platform assembly 18 for inducing motion on the ride vehicle 14. In some embodiments, the platform assembly 18 may be directly coupled to the track 12 and / or the ride vehicle 14. In other embodiments, the platform assembly 18 may be indirectly coupled to the track 12 and / or the ride vehicle 14, meaning that intervening components may separate the platform assembly 18 from the track 12 and / or the ride vehicle 14. The platform assembly 18 may induce motion (e.g., roll, pitch, yaw) on the ride vehicle 14 to enhance the experience for the passengers 16. In some embodiments, an extension mechanism 19 may be positioned between the platform assembly 18 and the track 12 (as shown) or between the platform assembly 18 and the ride vehicle 14. The platform assembly 18 and the extension mechanism 19 may be communicatively coupled to a controller 20, which may instruct the platform assembly 18 and / or the extension mechanism 19 to induce the aforementioned motion. By utilizing the platform assembly 18 and / or extension mechanism 19 to induce certain motions on the ride vehicles 14 , features (eg, shape) of the track 12 that would otherwise be costly and increase the footprint of the ride system 10 may be reduced or eliminated.

[0032] The controller 20 may be located within the ride system 10 (e.g., in each ride vehicle 14 or somewhere on the track 12), or may be located external to the ride system 10 (e.g., to remotely operate the ride system 10). The controller 20 may include a memory 22 having stored instructions for controlling components of the ride system 10 (such as the platform assembly 18). Additionally, the controller 20 may include a processor 24 configured to execute such instructions. For example, the processor 24 may include one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), one or more general-purpose processors, or any combination thereof. Additionally, the memory 22 may include volatile memory, such as random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM), an optical drive, a hard drive, or a solid-state drive.

[0033] The platform assembly 18 may include an inverted Stewart platform. Figures 6 to 9 An example of an inverted Stewart platform is illustrated in detail in [ 1 ]. Generally speaking, an inverted Stewart platform includes two platforms with legs (e.g., six legs) extending between the two platforms. Each platform includes three contact areas (e.g., "anchor locations") where the legs are coupled. In some embodiments, each contact area (e.g., anchor location) on one of the platforms may include one or more capstans configured to receive the legs, or may include an opening through which the legs extend to couple to one or more capstans on the other side of the platform.

[0034] Because each platform (e.g., the first platform) includes three contact areas and six legs extending therefrom, a first pair of legs extends from the first platform's first contact area, a second pair of legs extends from the first platform's second contact area, and a third pair of legs extends from the first platform's third contact area. The six legs are configured to be actuated (e.g., via the aforementioned winches) such that their lengths vary during operation of the inverted Stewart platform. For example, the legs can be actuated individually, in pairs, or in various arrangements such that different legs have different lengths during certain operating modes. According to the present disclosure, when all six legs are of equal length, the two platforms are parallel to each other (e.g., the "parallel position" of the inverted Stewart platform). Furthermore, when all six legs are of equal length, the three contact areas of the first platform are circumferentially aligned with the three contact areas of the second platform. In other words, when viewed from directly above or below the inverted Stewart platform, the three contact areas of the first platform and the three contact areas of the second platform are positioned in aligned annular positions. That is, the corresponding contact areas on the first and second platforms are aligned in this configuration and are distributed substantially along the circumference of each of the first and second platforms (or radially inward from the circumference). Furthermore, according to embodiments of the present disclosure, when all six legs are of equal length, the angle formed between an individual leg and one of the platforms can be 45 degrees or less. These features, among other things, enable improved stability of the inverted Stewart platform relative to conventional platforms.

[0035] Figure 2 Another embodiment of an amusement ride system 50 according to this embodiment is illustrated. The amusement ride system 50 includes an inverted Stewart platform 58 and an extension mechanism 60, which may be collectively or individually referred to as a "suspended reaction deck" (or as a portion of a "suspended reaction deck"). It should be noted that the extension mechanism 60 and / or the inverted Stewart platform 58 (or other platform components) may be referred to as a "suspended reaction deck" because they induce motion on the amusement ride vehicle 54 of the amusement ride system 50 without utilizing the curves of the track 52 of the amusement ride system 50, and because the passenger(s) may be unaware of the source of the motion. Thus, the suspended reaction deck is configured to impart certain sensations to the passengers in the amusement ride vehicle 54 via movement.

[0036] As an example, the extension mechanism 60 (or the suspended reaction deck or a portion thereof) can provide additional movement complexity to a ride system that includes a simple track. As a specific example, a ride system having a straight track can be implemented using the extension mechanism 60 to give the feeling that there are hills, valleys, and / or curves. Thus, the extension mechanism 60 enables the ride vehicle 54 to move without having to utilize a larger area of a curved track to impart motion. By reducing the curve of the track 52 (and therefore reducing the area), the components of the ride system 50 can be accommodated in a smaller area while still imparting sensation to the passengers of the ride vehicle 54, which would require a larger area in conventional embodiments. The inverted Stewart platform 58 can also impart motion (e.g., roll, pitch, yaw) that, in conventional embodiments, would be imparted by the track. It should also be noted that in other embodiments, different types of platform assemblies than the inverted Stewart platform 58 described above can be used. Further, Figure 2 The inverted Stewart platform 58 is schematically illustrated in FIG. Figures 6 to 9 A more detailed example is provided in .

[0037] continue Figure 2 In the embodiment illustrated in FIG, the track 52 is directly coupled to a mount 56 (e.g., a bogie). In some embodiments, the mount 56 may utilize wheels that are fixed to and roll on the track 52. The mount 56 may be coupled to the inverted Stewart platform 58 via the aforementioned extension mechanism 60. The extension mechanism 60 may utilize a scissor lift, an actuator (e.g., hydraulic or pneumatic), or any combination thereof to couple the mount 56 to the inverted Stewart platform 58. The extension mechanism 60 may provide one or more degrees of freedom (e.g., a vertical configuration in direction 53) on the ride vehicle 14. For example, as the ride vehicle 54 travels along the track 52, it may encounter a section of the track 52 along which it is desirable to lift the ride vehicle 54. Thus, instead of utilizing the curvature of the track 52 in direction 53 to move the ride vehicle 54 in direction 53, the extension mechanism 60 may be activated to lift the ride vehicle 54 to a desired vertical position. In this manner, the extension mechanism 60 may control the position of the ride vehicle 54 in the direction 53 without creating a ramp or dip in the track 52 , thereby saving on the cost of manufacturing the track 52 . Figure 3 Another embodiment of the ride system 50 is illustrated in , where an inverted Stewart platform 58 is coupled directly to the mount 56 and / or track 52 , and an extension mechanism 60 is coupled to the ride vehicle 54 between the ride vehicle 54 and the inverted Stewart platform 58 .

[0038] Figure 4 yes Figure 2A further detailed schematic diagram of a perspective view of an embodiment of the amusement ride system 50 is provided. Figure 4 As shown in FIG, the extension mechanism 60 is coupled to the upper platform 80 of the inverted Stewart platform 58. A winch 82 may be positioned generally along the outer periphery of the upper platform 80 (or radially inward therefrom). The inverted Stewart platform 58 includes a set of legs 84 (e.g., six legs) coupling the upper platform 80 to a lower platform 86. In some embodiments, the legs 84 extending between the two platforms 80, 86 may be cables or ropes coupled to the winch 82 on the upper platform 80. In this manner, the winch 82 can extend and / or retract the corresponding leg 84 to achieve the desired movement. The winch 82 may be communicatively coupled to the controller 20, which controls when the legs 84 are extended and / or retracted by instructing the winch 82 to be actuated. For example, in some embodiments, the controller 20 may be programmed to activate the winch 82 to extend and / or retract the legs 84 at specific time intervals (e.g., at specific sections along the track loop). The controller 20 can control the winches 82 independently, in pairs, or otherwise, so that the legs 84 can be controlled independently, in pairs, or otherwise. In addition, the controller 20 can monitor the forces imparted on the legs 84 of the inverted Stewart platform 58 to ensure that the induced motion remains within a desired threshold. It should be noted that in some embodiments, the winches 82 can be coupled to the lower platform 86 instead of the upper platform 80, or alternately coupled between the upper platform 80 and the lower platform 86. In yet other embodiments, there can be several pairs of winches that are coupled to each other via a single rope (e.g., cable or rope) to provide redundancy and additional capabilities (e.g., speed of expansion or retraction).

[0039] In the illustrated embodiment, the legs 84 are coupled to the lower platform 86 at attachment points 88 (or attachment areas) via fasteners, hooks, welds, another suitable coupling feature, or any combination thereof. The attachment points 88 securely couple the legs 84 to the lower platform 86. The lower platform 86 is coupled to the ride vehicle 54. Thus, when the winch 82 along the top platform 50 is actuated to change the length of the legs 84, the winch 82 pulls the lower platform 86, and the attached ride vehicle 54, toward the top platform 50 via the legs 84. It should be noted that while the above description refers to three contact areas (e.g., "anchor locations") along each platform, each platform may actually include six contact areas (e.g., anchor locations) grouped in pairs, with the two contact areas of a given pair positioned immediately adjacent to each other.

[0040] Figures 2 to 4The embodiment of the ride system shown in FIGURE 1 enables an inverted Stewart platform 58 and extension mechanism 60 to travel with the ride vehicle 54. Furthermore, the inverted Stewart platform 58 and extension mechanism 60 can be hidden from view by passengers seated within the ride vehicle 54 (e.g., due to the limited field of view created by the location of windows 90 positioned on the ride vehicle 54). Consequently, passengers seated within the ride vehicle 54 may not be able to anticipate when motion may occur. This can induce unexpected motion to enhance the passenger experience. Furthermore, because the inverted Stewart platform 58 and extension mechanism 60 travel with the ride vehicle 54, motion can be induced at any portion of the track 52 and is not limited to elements positioned on the track 52. This allows for greater flexibility in generating motion and sensation and can also reduce the cost of manufacturing the ride system 10, as additional elements that generate motion (e.g., additional actuators or track segments) can be replaced by these features. Additionally, the size of the track 52 can be reduced because the extension mechanism 60 and the inverted Stewart platform 58 are utilized to create some motion, as opposed to track curvature that would otherwise increase the track footprint. In some embodiments, the track 52 can be used in exhibits that do not include amusement rides (e.g., Figure 2 The illustrated track 52 and mounting member 56 are replaced by a fixed or limited range base) using the illustrated extension mechanism 60 and inverted Stewart platform 58. Figures 2 to 4 In each of these, the disclosed inverted Stewart platform, the extension mechanism 60 , or both, are configured to manage reaction forces associated with movement of the ride vehicles 54 during operation of the ride system 50 .

[0041] In another embodiment of the amusement ride system 50, as Figure 4 As schematically shown in FIG. 1 , instead of Figures 2 to 4In contrast to the extension mechanism 60 (which employs a scissor lift), cables 110 may be employed. These cables 110 may be part of an actuation system (e.g., configured to extend or retract the cables 110 via a winch) or may be fixed. In either case, operating modes may arise in which it is desirable to individually control each of the cables 110 and / or each of the legs of the inverted Stewart platform 58 in response to reaction forces associated with the movement of the ride vehicle 54. For example, if more passengers are positioned at one end of the ride vehicle 54 than at the other end, or if operation of the platform assembly 58 (e.g., an inverted Stewart platform) causes the weight of the ride vehicle 54 to shift during operation, the movement of the ride vehicle 54 may be at least partially cycle-dependent. That is, the reaction forces caused by the movement of the ride vehicles 54 may vary from one operating cycle to another, and individually controlling the cables 110 and / or the legs of the platform assembly 58 (e.g., an inverted Stewart platform) in response to the reaction forces may enhance the stability of the ride system 50. In such cases, control techniques may then be implemented via control feedback in a manner that manages the cycle-dependent reaction forces. For example, the controller 20 may receive sensor feedback from sensors 111 dispersed throughout the system 50. The sensors 111 may be located at the mounts 56, on the tracks 52, on the platform assembly 58, on the ride vehicles 54, or elsewhere. The sensors 111 may include torque sensors or other suitable sensors that detect the torque of the ride vehicles 54. In some embodiments, the sensors 111 may include optical sensors (or other suitable sensors) that detect the position or orientation of the ride vehicles 54, which may indicate the torque or twist of the ride vehicles 54. For example, the position or orientation of the ride vehicles 54 may indicate the forces in the system 50.

[0042] The controller 20 may analyze sensor feedback from one or more of the sensors 111 and may utilize a torque compensation algorithm to initiate control of the tension in the cable 110 and / or control the tension in the cable 110 via a motor (e.g., Figure 4 associated with the winch 82) or other actuators (e.g., as shown and relative to Figure 9 and Figure 10) to initiate extension / retraction of the legs 84. In some embodiments, each of the sensors 111 can be part of a corresponding motor or other actuator that controls the cables 110 and / or legs 84 of the platform assembly 58 (e.g., an inverted Stewart platform), such that the motor or other actuator controls the cables 110 and / or legs 84 at the source of the detected parameter. In doing so, the cables 110 and / or legs 84 can be prevented from slacking. In other words, the torque compensation algorithm can monitor the forces in the amusement ride system 50 to adjust the torque output of the motor or other actuator so that the legs 84 and / or cables 110 do not slack, which enhances the stability of the amusement ride system 50.

[0043] When a ride vehicle is experiencing external disturbances (e.g., via water jets), Figures 2 to 5 The embodiment illustrated in FIG5 may also achieve an improved ability to maintain stability of the ride vehicle 54 as external disturbances may be employed to guide the ride vehicle 54 along a path. Indeed, as described above, the movement of the ride vehicle 54 may vary from one operating cycle to another, and in some cases may depend on external disturbances that may or may not be associated with the ride system 50. The implementation of torque, tension, and / or other feedback allows for stability of the ride vehicle 54 even when the position, orientation, and general motion of the ride vehicle 54 dynamically changes during operation or from one operating cycle to another, regardless of whether the motion is caused by features of the ride system 50 or external features that interact with the ride system 50.

[0044] Figure 6FIG2 is a schematic diagram of an embodiment of an inverted Stewart platform 150 (similar to the inverted Stewart platforms illustrated in the aforementioned figures). The inverted Stewart platform 150 includes a first platform 152 (e.g., an upper platform), a second platform 154 (e.g., a lower platform), and six legs 156, 158, 160, 162, 164, 166 (collectively, "legs 84") extending between the upper and lower platforms 152, 154. The six legs 84 can be retractable and extendable independently and / or in conjunction with one another, such that one or both of the upper and lower platforms 152, 154 can move in any of six degrees of freedom (i.e., yaw 145, yaw 145, and yaw 141). In certain embodiments, the lower platform 154 can be coupled to or integrated with an amusement ride vehicle in which multiple passengers are seated. Thus, when the six legs 84 are actuated (e.g., retracted / extended), the lower platform 154 and the ride vehicles can move in any of six degrees of freedom. Furthermore, in some embodiments, the upper platform 152 can be coupled to or integrated with the track of the ride system, such that the ride vehicles are positioned below the track. Thus, as the upper platform 152 slides along the track of the ride system, the lower platform 154 and the corresponding ride vehicles move along the same path. In other embodiments, a reverse arrangement can be employed, such that the ride vehicles extend above the track and the lower platform 154 is coupled to the ride vehicles.

[0045] In the illustrated embodiment, the upper platform 152 includes three contact areas 152a, 152b, 152c (e.g., "anchor locations"), and the lower platform 154 includes three other contact areas 154a, 154b, 154c (e.g., anchor locations) that are circumferentially spaced substantially equal distances from one another along the perimeter of the respective upper and lower platforms 152, 154. As previously described, a winch may be positioned at the contact areas 152a, 152b, 152c, at the contact areas 154a, 154b, 154c, or at both the contact areas 152a, 152b, 152c and the contact areas 154a, 154b, 154c, and may be configured to extend / retract the legs 84 (e.g., via a motor of the winch or a motor coupled to the winch).

[0046] As shown, each contact area 152a, 152b, 152c, 154a, 154b, 154c receives two of the six legs 84. Furthermore, when all six legs 84 are equal in length (e.g., such that the upper platform 152 and the lower platform 154 are parallel to each other, as shown), the three contact areas 152a, 152b, 152c of the upper platform 152 are generally circumferentially aligned (e.g., aligned along a circumferential direction 159) with the three contact areas 154a, 154b, 154c of the lower platform 154. This can be referred to as the "parallel position" of the inverted Stewart platform 150. Thus, it can be said that in the parallel position, assuming the platforms 152 and 154 have the same dimensions, contact area 152a is generally aligned below contact area 154a, contact area 152b is generally aligned below contact area 154b, and contact area 152c is generally aligned below contact area 154c. Leg 156 coupled to contact area 152a extends to contact area 154b, and leg 158 coupled to contact area 152a extends to contact area 154c. Leg 160 coupled to contact area 152b extends to contact area 154a, and leg 162 coupled to contact area 152b extends to contact area 154c. Leg 164 coupled to contact area 152c extends to contact area 154a, and leg 166 coupled to contact area 152c extends to contact area 154b. Thus, in the illustrated embodiment, each of legs 84 extends from an initial contact area to a contact area on the opposing platform that is not directly above or below the initial contact area (i.e., in the same x,y position).

[0047] Compared to conventional embodiments, the configuration of the inverted Stewart platform 150 described above reduces the angle 155 between each of the legs 84 and each of the upper platform 152 and the lower platform 154, even when the legs 84 comprise different lengths (e.g., during operation). The reduction in the angle 155 of the legs 84 of the inverted Stewart platform 150 (e.g., relative to conventional embodiments) can enhance the stability of the inverted Stewart platform 150 by generating greater restoring forces in the legs 84. For example, the reduction in angle 155 can increase the overall stiffness of the inverted Stewart platform 150 to reduce undesirable movement. Further, while conventional Stewart platform assemblies may include a large platform to provide stability, the reduction in angle 155 described above promotes stability for a smaller platform. It should be noted that in some embodiments, the platforms 152, 154 may be of unequal sizes, and in those embodiments, the contact areas 152a, 152b and 152c will still be aligned with the contact areas 154a, 154b and 154c, respectively, along the circumferential direction 159; however, assuming the upper platform 152 is larger in size, the contact areas 152a, 152b and 152c of the upper platform 152 may not be positioned directly above the contact areas 154a, 154b, 154c of the lower platform 154, but instead may be positioned radially outward therefrom and aligned circumferentially or annularly (e.g., along the direction 159) therewith.

[0048] As mentioned above, compared with the traditional Stewart platform, Figure 6 The arrangement illustrated in FIG allows for a reduction in the angle 155 between any given leg 84 and the corresponding platform 152 or 154. In one embodiment, when all legs 156, 158, 160, 162, 164, 166 are of equal length, the angle 155 formed between each leg 84 and the platform 152, 154 is 45 degrees or less. According to this embodiment, the disclosed arrangement creates a compact structure that allows for stable movement in multiple degrees of freedom. As described above, while conventional Stewart platform assemblies may include a large platform to provide stability, the reduction in angle 155 described above with respect to the disclosed embodiment promotes stability for a smaller platform.

[0049] In the illustrated embodiment of the inverted Stewart platform 150, to promote consistent movement and force distribution, the legs 84 can alternate between serving as "outer legs" and "inner legs." In other words, if you start at contact area 152a on the upper platform 152 and move counterclockwise, the legs 156 (the "inner legs") of contact area 152a extend inward of legs 160 and 164, and the legs 158 (the "outer legs") of contact area 152a extend outward of leg 164. Moving next to contact area 152c, the legs 164 (the "inner legs") of contact area 152c extend between legs 158 and 162, and the legs 166 (the "outer legs") of contact area 152c extend outward of leg 162. Moving next to contact area 152b, leg 162 (the "inner leg") extends between legs 164 and 166, and leg 160 (the "outer leg") of contact area 152b extends outside of leg 156. Of course, a similar arrangement, but in reverse, can be employed by swapping each of the outer and inner legs. In other embodiments, a different arrangement can be utilized.

[0050] Figure 7 Pictured Figure 6 An embodiment of an inverted Stewart platform 150 in which the lower platform 152 has a different position / orientation. Figure 7 As shown in FIG, the lower platform 154 has been moved so that the contact area 154a is larger than that in the direction 53. Figure 6 The "parallel position" is described as being further away from the upper platform 154. To achieve this position, the legs 160 and 164 can be extended via the winch 180 (and its corresponding motor) to lower the contact area 154a in the direction 53. Similarly, the winch 180 can be used to retract the legs 158 and 162. If the length of the legs 158 and 162 is sufficiently retracted, the contact area 154c can be moved in the direction 53 further than with respect to FIG. Figure 6 The "parallel position" depicted is closer to the upper platform 152. In other words, the legs 84 can be adjusted to achieve the illustrated position and maintain stability in the inverted Stewart platform 150. In this orientation, the inverted Stewart platform 150 can induce sensations in the passengers by moving the ride vehicle. For example, the ride vehicle can be coupled to the lower platform 154, and Figure 7The positioning illustrated in FIG can cause the ride vehicle to enter a tilted or declined position. Because the inverted Stewart platform 150 includes a circular arrangement, similar positions can be achieved with respect to other contact areas. Further, repositioning can be instructed in a rapid sequential order to enhance the feel. Still further, repositioning can be instructed to manage or compensate for reaction forces exerted on the system by the ride vehicle coupled to the inverted Stewart platform 150. Thus, passengers on the ride vehicle can perceive that the ride vehicle is "hanging" or "reacting" to various forces without using track curvature to impart certain forces, and the stability of the system can be controlled in situations where the motion of the ride vehicle deviates from the desired motion.

[0051] Figure 8 FIG is a schematic diagram of an embodiment of an inverted Stewart platform 150. Figure 8 As shown in FIG, the position of the lower platform 154 is greater than that of the lower platform 154 along the direction 53. Figure 6 The position shown in FIG is further away from the upper platform 152. In other words, the distance 171 between the platforms 152, 154 is Figure 8 China and Belgium Figure 6 156, 158, 160, 162, 164, 166. This configuration can be achieved, for example, by simultaneously extending all legs 156, 158, 160, 162, 164, 166. Distance 171 can also be varied even when inverted Stewart platform 150 is not in the aforementioned parallel position. Of course, in another operational sequence, platforms 152, 154 can be drawn together by retracting legs 84. In either sequence, the new position can adjust the height of the ride vehicle (i.e., in direction 53), which can enhance the rider experience. For example, the ride vehicle can be lowered to access elements outside the ride vehicle (e.g., exhibits or attractions adjacent to the ride vehicle). Furthermore, as the ride vehicle is lowered, it can create a sensation for the rider (i.e., a "dropping" sensation) to enhance the ride experience.

[0052] like Figure 7 and Figure 8 As shown in FIG, the inverted Stewart platform 150 can induce several different motions on the ride vehicle. Thus, the features of the track utilized to induce motion on the ride vehicle can be reduced, which can reduce the size and / or cost of the ride system. As previously described, the inverted Stewart platform 150 and the extension mechanism (e.g., Figures 2 to 5 The extension mechanism 60) can work in conjunction to simulate a sensation similar to or identical to that produced by the track while maintaining stability. For example, the track may no longer include an inclined ramp because the inverted Stewart platform 150 can achieve tipping (and / or vertical lifting of the ride vehicle 54) in conjunction with the extension mechanism (e.g., Figures 2 to 5The vertical movement of the amusement ride vehicle is induced by the extension mechanism 60. This can reduce the cost of manufacturing the track and amusement ride system as a whole, and can reduce the overall footprint of the track and amusement ride system.

[0053] exist Figures 6 to 8 In the embodiment, the upper platform 152 and the lower platform 154 are shown as circular plates, but in another embodiment, they can be any suitable shape. Further, the upper platform 152 and the lower platform 154 can be shaped differently relative to each other. As described above, in one embodiment, the upper platform 152 can be connected to the extension mechanism (e.g., Figures 2 to 5 The lower platform 154 may be coupled to an extension mechanism 60 in the vehicle body or to a track (e.g., via an intervening bogie that slides along the track), and the lower platform 154 may be coupled to the ride vehicle. In this embodiment, the ride vehicle may be suspended from the track, such as Figure 2 and Figure 4 , (ie, the ride vehicle 54 and the track 52 are illustrated).

[0054] Figure 9 Another embodiment of a platform assembly 200 is shown. The platform assembly 200 may include an upper platform 202 and a lower platform 204. In this embodiment, the legs 202, 204, 206, 208, 210, 212 may be extended and / or retracted by an actuator 230. Thus, the legs may not be coupled to a winch or may not include a cable or rope, although a winch may be used in conjunction with the actuator 230.

[0055] To provide a more detailed view of one of the legs 84, Figure 10 An embodiment of an actuator 230 that can be used in the platform assembly 200 is illustrated. As shown in the figure, the actuator 230 can include a center segment 232 and two leg segments 234 coupled to opposite ends of each center segment 232. The leg segments 234 can be metal, carbon fiber, another suitable material, or any combination thereof to allow for a stable coupling with the actuator 230. The center segment 232 can cause the leg segments 234 to retract and extend relative to the center segment 232 to operate the actuator 230 (e.g., to retract or extend the corresponding leg, respectively).

[0056] Additional embodiments of amusement ride systems utilizing platform assemblies and / or extension mechanisms are described below. For example, Figure 11 is a schematic diagram of an embodiment of a system 250 having a cabin 252 positioned on top of a base 254 and an intervening platform assembly 256 (e.g., an inverted Stewart platform), wherein the platform assembly 256 is coupled to the cabin 252 and the base 254. In this manner, the cabin 252 is positioned relative to the rails 254 in a manner similar to that of the vehicle. Figure 2252 can be oriented in different ways as shown in FIG. As previously described, windows 258 can be positioned or arranged on cabin 252 to enable or prevent viewing of certain features from within cabin 252. Base 254 can be a track or a fixed base associated with an exhibit or show. In some embodiments, base 254 can be an open path through which cabin 252 and corresponding inverted Stewart platform 256 can be moved (e.g., via wheels). It should be noted that in some embodiments, cabin 252 can be replaced by a show element.

[0057] Figure 12 is a schematic diagram of an embodiment of a system 300 in which a cabin 302 of the system 300 is positioned at one side of a base 304 (e.g., in the direction 51). Here, a platform assembly 306 (e.g., an inverted Stewart platform) is positioned at a distance from the base 304 in the direction 51, and the cabin 302 is further positioned at a distance in the direction 51 and coupled to the platform assembly 306. Similar to Figure 11 , windows 308 may be positioned on the cabin 302 to enable or prevent viewing of certain features from within the cabin 302. As previously described, the base 304 may be a track or a fixed structure. Further, while the cabin 302 is shown in the illustrated embodiment, in some embodiments the cabin 302 may be replaced by a performance element.

[0058] In another embodiment, Figure 13 As shown in , system 350 may include a platform assembly 352 (e.g., an inverted Stewart platform) implemented in a performance show. An upper platform 354 of platform assembly 352 may be coupled to a stage 356, and a lower platform 358 may be coupled to a fixed element 360 (e.g., the ground or floor beneath stage 356). Thus, stage 356 may be configured to accommodate one or more people (or performance elements / components) and may be configured to move relative to fixed element 360. For example, one or more people may be performing an action, and platform assembly 352 may move stage 356 to enhance the performance. Similar to the above reference to at least Figure 5 The description included in Figures 11 to 13 In the system presented in , the controller (e.g. Figure 1 The controller 20 may also monitor the forces imparted on the respective ride systems (eg, each of the legs) to ensure stability.

[0059] Figure 14An embodiment of a method 400 for controlling an amusement ride system according to the present disclosure is illustrated. The method 400 includes receiving (block 402) a signal (e.g., at a controller) indicating positioning of a platform assembly (or its platform). For example, certain movements of the platform assembly may be desired to cause a ride vehicle coupled to the platform assembly (e.g., coupled to a lower platform of the platform assembly) to move (e.g., roll, pitch, yaw, upward, or downward). It should be noted that the platform assembly may be an inverted Stewart platform assembly, and in some embodiments, the amusement ride system may be a stage or other show exhibit in which a fixed base replaces the track.

[0060] The method 400 also includes extending and / or retracting (block 404) certain legs of the platform assembly via commands from the controller to motor winches or other actuators to cause the platform assembly (or its platform) to move in accordance with the commands discussed above with respect to block 402. As previously described, movement of the platform assembly can cause a ride vehicle or cabin (or stage, in embodiments related to a show or exhibit) of the system to move, which can cause a reaction force on a load path (e.g., extending cables) between the ride vehicle and the track.

[0061] The method 400 also includes measuring, sensing, or detecting (block 406) a reaction force (or a parameter indicative of a force) in the ride system. For example, as previously described, a torque sensor, optical sensor, or other sensor may be used to detect a force (or a parameter indicative of a force, such as the orientation of a ride vehicle) in the ride system. The controller may receive sensor feedback and, based on a torque compensation algorithm, determine how to best manage the reaction load / force applied by the movement of the ride vehicle.

[0062] Method 400 also includes determining (block 407) an adjustment to the system via the controller, which analyzes the reaction force via a torque compensation algorithm. Furthermore, method 400 includes adjusting (block 408) the legs and / or extension cables of the platform assembly. As previously described, the controller can determine the desired adjustment and instruct a motor or other actuator to adjust the tension in the legs and / or extension cables (e.g., by extending or retracting the legs and / or extension cables), thereby preventing the legs and / or extension cables from becoming slack.

[0063] The systems and methods described above are configured to manage reaction loads on an amusement ride system through movement of a ride vehicle, where this movement is caused by an extension mechanism and / or platform assembly (e.g., an inverted Stewart platform). The extension mechanism and / or platform assembly causes the vehicle movement without utilizing a curved track, which would otherwise occupy a larger space and increase the footprint of the amusement ride system. Feedback control enables the system to monitor the reaction forces caused by the motion of the ride vehicle and adjust the system to maintain the stability of the amusement ride system.

[0064] While only certain features of the 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 disclosure.

Claims

1. A method for operating an amusement ride system, the method comprising: determining, by a controller, a first force in the ride system during a first operating cycle of the ride system, wherein the ride system includes a base, a ride vehicle, a platform assembly positioned between the base and the ride vehicle, and an extension mechanism coupled to the platform assembly and positioned between the base and the ride vehicle, and the extension mechanism includes a plurality of cables configured to extend and retract to move the ride vehicle relative to the base; causing, by the controller, a motor of a plurality of motors to output a first torque based on the first force in the ride system to pull a cable of the plurality of cables to move the ride vehicle relative to the base; determining, by the controller, a second force in the amusement ride system during a second operating cycle of the amusement ride system; and causing the motor of the plurality of motors to output a second torque based on a second force in the amusement ride system by the controller to pull the cable of the plurality of cables.

2. The method of claim 1, wherein: The platform assembly has a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform, The platform assembly is located between the base and the ride vehicle, and The method includes actuating, via the controller, the plurality of legs to move the first platform relative to the second platform to move the ride vehicle relative to the base.

3. The method of claim 2, comprising: During the first operating cycle, actuating, by the controller, the plurality of legs to adjust the plurality of legs to a first position based on the first force in the ride system; as well as In the second operating cycle, the plurality of legs are actuated by the controller to adjust the plurality of legs to a second position based on the second force in the ride system.

4. The method of claim 3, comprising: monitoring, by the controller, forces in the ride system caused by actuation of the plurality of legs of the platform assembly; as well as The torque output by the motor is adjusted by the controller based on the forces in the ride system caused by actuation of the plurality of legs.

5. The method of claim 1, comprising: The first and second forces in the ride system are determined, by the controller, based on data received from a torque sensor configured to determine a torque in the ride system, an optical sensor configured to determine an orientation of the ride vehicle, or both.

6. The method of claim 1, wherein: Determining, by the controller, the first force and the second force in the ride system includes determining a weight distribution of the ride vehicle.

7. The method of claim 1, wherein: The controller causes the motor of the plurality of motors to output the first torque, the second torque, or both, causing the cable of the plurality of cables to extend to move a portion of the ride vehicle away from the base.

8. The method of claim 1, wherein: The controller causes the motor of the plurality of motors to output the first torque, the second torque, or both, so that the cable of the plurality of cables retracts to move a portion of the ride vehicle toward the base.

9. A controller, wherein: The controller is configured to: determining a first force in an amusement ride system during a first operating cycle of the amusement ride system, wherein the amusement ride system includes a base, a ride vehicle, and a platform assembly positioned between the base and the ride vehicle, the platform assembly including a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform; adjusting a leg of the plurality of legs to a first position based on the first force in the ride system; determining a second force in the amusement ride system during a second operating cycle of the amusement ride system; as well as adjusting the leg of the plurality of legs to a second position based on the second force in the ride system, The amusement ride system includes an extension mechanism positioned between the base and the amusement ride vehicle, the extension mechanism including a plurality of cables and a plurality of motors configured to selectively wind the plurality of cables, and the controller is further configured to perform the following operations: During the first operating cycle, causing the plurality of motors to output a first torque based on the first force in the amusement ride system; as well as During the second operating cycle, the plurality of motors are caused to output a second torque based on the second force in the ride system.

10. The controller according to claim 9, wherein: The controller is configured to adjust the legs of the plurality of legs to move the ride vehicle relative to the base via movement of the first platform relative to the second platform.

11. The controller according to claim 10, wherein: The controller is configured to adjust the legs of the plurality of legs to roll, pitch, yaw, extend, or any combination thereof to retract the ride vehicle relative to the base.

12. The controller according to claim 9, wherein: The controller is configured to adjust the legs of the plurality of legs so that the legs of the plurality of legs extend or retract.

13. The controller according to claim 9, wherein: Each leg of the plurality of legs includes a corresponding actuator, and the controller is configured to actuate the corresponding actuator of the leg of the plurality of legs to adjust the leg.

14. The controller according to claim 9, wherein: The platform assembly includes a plurality of winches configured to move the plurality of legs, and the controller is configured to actuate the plurality of winches to adjust the legs of the plurality of legs.

15. A method of operating an amusement ride system, comprising: In a first operation cycle of the amusement ride system, a first force in the amusement ride system is determined by a controller, wherein the amusement ride system includes: base, Recreation facilities vehicles, a platform assembly positioned between the base and the ride vehicle and comprising a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform, and an extension mechanism positioned between the base and the ride vehicle and coupled to the platform assembly, the extension mechanism including a plurality of cables configured to extend and retract to respectively move the ride vehicle away from and toward the base of the ride system; Based on the first force in the amusement ride system, causing a plurality of motors to output a first torque to control the tension in the plurality of cables of the extension mechanism through the controller; determining, by the controller, a second force in the ride system during a second operating cycle of the ride system; and The controller causes the plurality of motors to output a second torque based on the second force in the amusement ride system.

16. The method of claim 15, comprising: determining, by the controller, a reaction force in the ride system resulting from causing the plurality of motors to output torque, actuating the plurality of legs of the platform assembly, or both; as well as The torque output by the plurality of motors, the actuation of the plurality of legs, or both are adjusted by the controller based on the reaction force.

17. The method of claim 15, wherein: Determining, by the controller, the first force and the second force in the ride system includes monitoring a force applied by the platform assembly to the ride vehicle.

18. The method of claim 15, wherein: The plurality of legs of the platform assembly are actuated by the controller such that a first leg of the plurality of legs extends and a second leg of the plurality of legs retracts.

19. The method of claim 15, wherein: The controller causes the plurality of motors to output torque, causing a first cable among the plurality of cables to extend and a second cable among the plurality of cables to retract.

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