System and method to facilitate control of customers riding a vehicle

Abstract

A ride vehicle control system for a ride vehicle of an attraction 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 be coupled to the ride vehicle. The ride vehicle control system further includes one or more processors configured to receive signals from the plurality of sensors, wherein the signals are indicative of a position of the guest, a movement of the guest, or both. The one or more processors are also configured to: determine, based on the signals, an anticipated movement of the ride vehicle; and control the actuator system to adjust a resistance to movement of the ride vehicle to facilitate the anticipated movement.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority and interest in U.S. Provisional Application No. 63 / 077095, filed September 11, 2020, entitled “System and Method for Enhancing Customer Control in a Vehicle,” which is hereby incorporated in its entirety by reference for all purposes. Background Technology

[0003] This section aims to introduce the reader to various technical aspects that may relate to the present technology, which are described and / or claimed below. This discussion is intended to provide the reader with background information to facilitate a better understanding of the various aspects of this disclosure. Therefore, it should be understood that these statements are to be read in this context, rather than as an admission of prior art.

[0004] Amusement parks can include a variety of attractions useful in providing customers with motion and / or visual experiences. For example, attractions can include vehicles that travel along paths (e.g., tracks) to provide a motion experience. In some cases, attractions can include vehicles configured to roll, pitch, and / or yaw while remaining stationary in one location (e.g., not traveling along a path) to provide a motion experience. In some cases, attractions can include virtual reality (VR) devices worn by customers to provide a visual experience. It is currently recognized that enhancing the motion and / or visual experiences for amusement park customers can be ideal. Summary of the Invention

[0005] Certain embodiments corresponding in scope to the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of this disclosure, but rather are intended only to provide a brief overview of some of the disclosed embodiments. In fact, this disclosure may include a wide variety of forms that may be similar to or different from the embodiments set forth below.

[0006] In one embodiment, a transportation control system for a tourist attraction includes multiple sensors configured to monitor a passenger supported by the transportation vehicle. The transportation control system also includes an actuator system configured to be coupled to the transportation vehicle. The transportation control system further includes one or more processors configured to receive signals from the multiple sensors, wherein the signals indicate the passenger's position, the passenger's movement, or both. The one or more processors are also configured to: determine an expected movement of the transportation vehicle based on the signals; and control the actuator system to adjust resistance to the movement of the transportation vehicle to facilitate the expected movement.

[0007] In one embodiment, a vehicle control system for a tourist attraction includes one or more processors configured to receive a first signal from a head position sensor, wherein the first signal indicates the position of a customer's head, movement of the customer's head, or both. The one or more processors are further configured to determine an expected movement of the 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 vehicle to facilitate the expected movement.

[0008] In one embodiment, a method of operating a passenger vehicle control system includes receiving a first signal from a head position sensor at one or more processors, wherein the first signal indicates the position of a customer's head, movement of the customer's head, or both. The method further includes using one or more processors to determine, based on the first signal, an expected movement of the passenger vehicle. The method further includes using one or more processors to control an actuator system to adjust resistance to movement of the passenger vehicle to facilitate the expected movement caused by the transfer of body weight by the customer. Attached Figure Description

[0009] These and other features, aspects, and advantages of this disclosure will become more readily understood when the following detailed description is read with reference to the accompanying drawings, in which the same characters denote the same parts throughout the drawings, wherein:

[0010] Figure 1 This is a schematic diagram illustrating an embodiment of a scenic spot having a means of transportation and a control system for the means of transportation according to an embodiment of the present disclosure, wherein the means of transportation includes a spring-based actuation system, the spring-based actuation system including a spring;

[0011] Figure 2 It is possible to implement the embodiments according to this disclosure. Figure 1 A perspective view of an embodiment of a motor-based actuation system used in a passenger vehicle, wherein the motor-based actuation system includes two motors and two linkage systems;

[0012] Figure 3 It is possible to implement the embodiments according to this disclosure. Figure 1 A perspective view of an embodiment of a motor-based actuation system used in a passenger vehicle, wherein the motor-based actuation system includes three motors and three linkage systems;

[0013] Figure 4 This describes an embodiment according to the present disclosure. Figure 1 A schematic diagram of an embodiment of a tourist attraction, wherein the means of transportation includes any suitable actuation system, and multiple sensors are configured to provide signals to the vehicle controller of the means of transportation control system; and

[0014] Figure 5 This is a flowchart of an embodiment of a method for operating a tourist attraction using a means of transportation according to an embodiment of the present disclosure. Detailed Implementation

[0015] One or more specific embodiments of this disclosure will be described below. To provide a concise description of these embodiments, not all features of the actual implementation may be described in the specification. It should be appreciated that, in the development of any such actual implementation, as in any engineering or design project, many implementation-specific decisions must be made to achieve specific goals for the developer that may vary from implementation to implementation, such as compliance with system-related constraints and business-related constraints. Furthermore, it should be appreciated that such development efforts may be complex and time-consuming, but will be nothing more than routine tasks of design, fabrication, and manufacturing for those skilled in the art who benefit from this disclosure.

[0016] When describing elements of various embodiments of this disclosure, the articles “a,” “an,” and “the” are intended to mean the presence of one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that additional elements may be present in addition to those listed. Furthermore, it should be understood that references to “an embodiment” or “an embodiment” in this disclosure are not intended to be construed as excluding the existence of additional embodiments that also incorporate the described features.

[0017] The current embodiments relate to a transportation control system for an attraction in an amusement park. The transportation control system is configured to control the actuation system of a transportation vehicle accommodating customers (e.g., passengers) to provide a motion experience to the customers. Generally, customers can provide input to the transportation control system by moving relative to the transportation vehicle, and the transportation control system can control the actuation system of the transportation vehicle based on the input to provide a motion experience to the customers. More specifically, the transportation control system may include one or more sensors that monitor the customer's head position and / or movement, eye position and / or movement, and / or body position and / or movement (e.g., hands, limbs, and / or weight transfer). The transportation controller can receive signals from the one or more sensors indicating the customer's position(s) and / or movement(s). The transportation controller can then determine the customer's intention based on the customer's position(s) and / or movement(s), and the transportation controller can control the transportation vehicle according to the customer's intention. As discussed in more detail below, the vehicle controller can receive additional input related to riding elements (e.g., physical riding elements, such as animated characters; virtual riding elements, such as virtual characters presented to the customer via a virtual reality (VR) device), and the vehicle controller can determine the customer's intent based on the additional input. Advantageously, the disclosed technology can provide customers with a more responsive and / or immersive experience.

[0018] like Figure 1 As described herein, attraction 10 includes a transportation control system 12, which has a transportation controller 14 and a transportation vehicle 16 (e.g., a motion simulator). In an embodiment, the transportation vehicle 16 may include a seat 20 configured to accommodate a customer 22 (e.g., a passenger). While in the transportation vehicle 16, the customer 22 may also receive a virtual experience via a VR device 24 (e.g., a VR headset, a wearable visualization device, a head-mounted sensor device), the VR device 24 including or coupled to a VR controller 26 (e.g., an add-on controller).

[0019] It should be appreciated that the vehicle 16 can take any suitable form or appearance, including forms or appearances such as sleds, motorcycles, cars, animals, surfboards, skateboards, etc. Furthermore, while the vehicle control system 12 is discussed herein with reference to a vehicle 16 supporting a single customer 22 for the purpose of facilitating discussion, it should be appreciated that similar techniques can be applied to adapt the vehicle control system 12 to multi-passenger vehicles supporting multiple customers. It should also be appreciated that the VR device 24 is optional and may not be provided as part of the attraction 10. For example, the customer 22 may not wear (e.g., on their head) any device integrated as part of the vehicle control system 12, and / or the customer 22 may not be presented with virtual characteristics (e.g., the customer 22 may view a real-world environment). Additionally, in embodiments, the customer 22 may wear a non-VR device (e.g., glasses, headband) that includes head-mounted sensors to monitor the customer 22 to facilitate the disclosed techniques. In such a case, the VR controller 26 is not configured to coordinate the virtual experience, but can instead be used to receive signals from the head-mounted sensors monitoring the customer 22 and / or provide signals or other data to the vehicle controller 14 (e.g., based on processing signals from the head-mounted sensors) (therefore, the VR controller can be referred to as any type of additional controller, such as a customer tracking controller, rather than a VR controller).

[0020] The vehicle 16 can have any of a variety of configurations that allow a customer 22 to provide input (e.g., by moving their head, eyes, and / or body) to control the movement of the vehicle 16. For example, in one embodiment, the seat 20 can be coupled to the top surface 30 of the spring plate 32 (e.g., a solid plate; an open frame) of the vehicle 16. A spring 34 can engage with or be coupled to the bottom surface 36 of the spring plate 32. The spring 34 can provide resistance to the movement of the spring plate 32 (e.g., relative to other components of the vehicle 16). The vehicle 16 can include a base 40 coupled to a support beam 42 via a strut 44, and the support beam 42 is also coupled to the bottom surface 36 of the spring plate 32 via a pivot joint 46. The pivot joint 46 allows the spring plate 32 to rotate relative to the base 40 via roll 50 (e.g., roll movement) and pitch 52 (e.g., pitch movement). In this embodiment, the base 40 may be substantially stationary relative to the ground 54. However, it should be appreciated that the base 40 may be movable relative to the ground 54, such as when the base 40 is part of a larger passenger vehicle that traverses the path (e.g., a track).

[0021] In an embodiment, pivot joint 46 may be a spherical bearing joint or a universal joint, and pivot joint 46 also enables spring plate 32 to rotate relative to base 40 via deflection 56 (e.g., deflection movement; about an axis parallel to vertical axis 72). However, pivot joint 46 may be configured to enable movement along only 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 locations. For example, to provide rotation about a single axis, pivot joint 46 may be a gimbal or an expansion joint. In any case, base 40, support beam 42, and pivot joint 46 generally form support assembly 60, which supports spring plate 32 while allowing one or more degrees of freedom of pivotal movement of spring plate 32.

[0022] A VR device 24 worn by customer 22 can utilize VR technology, augmented reality (AR) technology, and / or mixed reality technology (e.g., a combination of VR and AR) to render a virtual experience for customer 22. For example, VR controller 26 may include processor 62 and memory 64, and processor 62 can execute instructions stored in memory 64 to instruct the display of VR device 24 to present a set of virtual images corresponding to the virtual experience. VR controller 26 and vehicle controller 14 can be communicatively coupled to each other via corresponding communication components 66 (e.g., wireless or wired). In this way, the virtual experience provided by VR device 24 and the movement of riding in vehicle 16 can be coordinated with each other. For example, VR controller 26 can adjust the virtual images presented to customer 22 based on settings for spring plate 32 and / or movement of spring plate 32. Furthermore, the virtual experience provided by VR device 24 can be selected to correspond to the physical appearance of riding in vehicle 16 and / or the theme of attraction 10, thereby providing an immersive experience to customer 22. For example, in an embodiment where attraction 10 is themed as a jungle, the seats 20 of the vehicle 16 can be designed as animals, and the virtual experience can be shown to customer 22 as a race through the jungle.

[0023] In an embodiment, the vehicle 16 may include components capable of enabling semi-passive control of the vehicle 16, which can provide advantages regarding the experience of the customer 22 (e.g., compared to a fully passive or fully active system). For example, the vehicle 16 may include drag adjustment features, such as an actuator plate 70 (e.g., a solid plate; an open frame) positioned relative to a vertical axis 72 between the spring plate 32 and the base 40. In an embodiment, an actuator 74 is coupled between the actuator plate 70 and the base 40 to adjust the position of the actuator plate 70 relative to the base 40 based on instructions from the vehicle controller 14. In particular, 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 instruct the actuator 74 to retract or extend to any suitable actuator length between a fully retracted length and a fully extended length to position the actuator plate 70 at a specific separation distance 76 from the spring plate 32. The actuator 74 can be any suitable component that facilitates movement of the actuator plate 70, including electric actuators, hydraulic actuators, pneumatic actuators, magnetic actuators, mechanical actuators, and / or servo motors, etc. In embodiments, the actuator plate 70 may not be directly coupled to the spring plate 32 (e.g., the actuator plate 70 and the spring plate 32 may be physically separated from each other along the vertical axis 72 at least in some positions and / or at some time during operation).

[0024] Spring 34 can selectively contact and compress against actuator plate 70 in response to movement of customer 22. For example, when customer 22 tilts to transfer their weight relative to support beam 42, pivot joint 46 allows spring plate 32 to rotate accordingly (e.g., tilt), thus positioning a corresponding portion of spring 34 in contact (e.g., engage) with top surface 80 of actuator plate 70. As customer 22 continues to tilt to transfer their weight, spring 34 in contact with top surface 80 compresses and provides resistance to slow and eventually stop movement of spring plate 32. By adjusting the separation distance 76 between spring plate 32 and actuator plate 70, ride vehicle control system 12 can effectively adjust the effective spring constant of spring 34 to adjust ride vehicle 16 to provide customer 22 with a neutral buoyancy feel and / or appropriate responsiveness suitable for any of the multiple VR experiences delivered by VR device 24.

[0025] Although two springs 34 and two actuators 74 are described for simplicity, it should be understood that these represent any number of such features. In practice, any suitable number of springs 34 and actuators 74 may be included in the vehicle 16, including one spring 34 and / or one actuator 74. For example, in an embodiment with a single actuator 74, the single actuator 74 may include any suitable four-bar linkage, scissor linkage, guide rail combined with wheels, or any other suitable linkage that enables the single actuator 74 to adjust the position of the actuator plate 70 in one or more dimensions. Additionally, in an embodiment with a single spring 34, the single spring 34 may be positioned at a central location corresponding to the desired center of mass of the customer 22. It should also be understood that the spring 34, described as a mechanical spring, helical spring, or coil spring, may include or represent any suitable biasing member or resistance device (e.g., gas spring, air spring, elastomer, leaf spring, rigid air bladder, conical spring washer (such as a Belleville washer), gas strut, or magnetic repulsion assembly, or any combination thereof). That is, any suitable device that applies a variable force as a function of the size of the suitable device is currently envisioned for use in the vehicle control system 12.

[0026] Additionally, although illustrated with spring 34 of spring plate 32 separate from actuator plate 70, in other embodiments, spring 34 may be coupled between spring plate 32 and base 40 to provide normalizing bias to spring plate 32. Furthermore, it should be understood that spring 34 may be coupled to any suitable location within the vehicle 16 where selective engagement of spring 34 is possible (including locations where spring 34 engages with any suitable surface of actuator plate 70 via cantilever action or any other suitable force distribution component). That is, the suitable location may be any suitable location where spring 34 is engaged in response to rotation of spring plate 32 exceeding a threshold angle. In embodiments, one or both ends of spring 34 may be coupled to spring plate 32 and selectively compressed between spring plate 32 and actuator plate 70. In embodiments, spring 34 may be coupled to top surface 80 of actuator plate 70. Spring 34, actuator 74, and associated components may together form a spring-based actuation system. Furthermore, it should be recognized that any of the various spring-based actuation systems (e.g., those with springs) can be implemented in the vehicle 16.

[0027] Figure 2An embodiment of a motor-based actuation system that can be used in the vehicle 16 of attraction 10 is described. As shown, the motor-based actuation system includes a motor 220 and a linkage system 222, which operate to drive movement of a spring plate 32 about a pivot joint 46 of a support beam 42 (e.g., to drive movement of the spring plate 32 relative to a base 40). Each motor 220 (e.g., an electromechanical motor, pneumatic motor, hydraulic motor) can be operated to adjust the resistance to movement of the spring plate 32 about the pivot joint 46. In an embodiment, each motor 220 is coupled to a corresponding gearbox 224 and / or a corresponding linkage system 222. For example, a motor 220 may be coupled to a gearbox 224, and the gearbox 224 may be coupled to a first bracket 226 of the linkage system 222. Thus, the torque output by the motor 220 (e.g., to cause rotation of the shaft of the motor 220) can drive rotation of the gears in the gearbox 224 to cause rotation of the first bracket 226. As an example, motor 220 can utilize keyless bushings to rotate the shaft and gearbox 224, enabling smooth movement of spring plate 32. First bracket 226 is coupled to linkage 228 of linkage system 222 at a first end 230. Furthermore, second end 232 of linkage 228 can be coupled to second bracket 234 of linkage system 222, and second bracket 234 can be coupled to a section (e.g., corner, side) of bottom surface 36 of spring plate 32.

[0028] Motor 220 can be configured to output torque that controls and / or drives rotational movement of the first bracket 226 about a corresponding horizontal axis 236 or a corresponding axis parallel to the horizontal axis 236. Such rotational movement of the first bracket 226 can cause corresponding movement of the linkage 228 along an axis generally parallel to the vertical axis 72 to apply force to a corresponding section of the spring plate 32. The applied force can cause the spring plate 32 to move (e.g., rotate, such as 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, such as via a rotatable fastener 238 (e.g., a shoulder screw) of the linkage system 222, to enable rotational movement of the linkage 228 and the brackets 226, 234 about the corresponding horizontal axis 236. Rotation between the linkage 228 and the brackets 226, 234 allows for greater control over the movement of the spring plate 32 relative to the base 40. Furthermore, the coupling between the linkage 228 and the brackets 226, 234 allows for additional movement between the linkage 228 relative to the brackets 226, 234 to facilitate movement of the spring plate 32 relative to the base 40. As an example, the linkage 228 may translate linearly along the rotatable fastener 238, and / or may rotate relative to the brackets 226, 234 about another axis (e.g., via an additional fastener of the linkage system 222).

[0029] In this embodiment, the linkage system 222 is supported (e.g., coupled to a support beam 42) via a plate 240 extending between the base 40 and the actuator plate 70. For example, the plate 240 (which may be part of the support assembly 60) may be fixedly coupled to the actuator plate 70, the base 40, and / or the support beam 42. A gearbox 224 may be fixedly coupled to the plate 240 to prevent movement between the gearbox 224 and the support assembly 60, thereby stabilizing the linkage system 222. In this way, the plate 240 can facilitate the desired movement of the spring plate 32 relative to the base 40 via the motor 220.

[0030] In this embodiment, each motor 220 may be reversibly driven. That is, sufficient force applied to the spring plate 32 (e.g., caused by the customer 22 transferring their weight) can cause the spring plate 32 to move relative to the base 40 in a direction opposite to the movement of the spring plate 32 caused by the torque output by the motor 220. In other words, sufficient force can be used to cause any of the first brackets 226 to rotate in a direction opposite to the direction of rotation caused by the torque output by the motor 220. In this way, the amount of torque output by the motor 220 to apply force to the spring plate 32 can be adjusted to the amount of reaction force required to resist the movement of the spring plate 32 relative to the actuator plate 70 caused by the torque output by the motor 220. Thus, the torque output by the motor 220 sets the resistance to the movement of the spring plate 32. In particular, increasing the torque output can increase the resistance to movement, and decreasing the torque output can decrease the resistance to movement. Each motor 220 can be communicatively coupled to the vehicle controller 14, and the processor 90 can execute instructions stored in the memory 92 to control the motor 220 to output a specific torque to effectively adjust or set the resistance to the movement of the spring plate 32. Although Figure 2 The motor-based actuation system comprises two motors and two linkage systems, but it should be understood that any suitable number of motors and linkage systems can be used within the vehicle 16. For example, Figure 3 An embodiment of a motor-based actuation system that can be used in the vehicle 16 is described, wherein the motor-based actuation system includes three motors and three linkage systems. Three motors 220 allow for greater control over the movement of the spring plate 32 compared to controlling the spring plate 32 via two motors 220. As an example, in addition to pitching and / or rolling the spring plate 32 relative to the base 40, the vehicle controller 14 can also translate the spring plate 32 along an axis parallel to the vertical axis 72 to cause the spring plate 32 to undulate.

[0031] Figure 1-3Examples of components that may be included in the vehicle 16 are provided to facilitate discussion; however, it should be appreciated that the vehicle 16 may have any of the various components and configurations. In fact, the vehicle control system 12 may include or be used in conjunction with any of the features and techniques disclosed in the following: U.S. Provisional Application No. 62 / 889942, entitled “Resistance Control System and Method for Amusement Parks,” filed August 21, 2019; U.S. Application No. 16 / 687354, entitled “Resistance Control System and Method for Amusement Parks,” filed November 18, 2019; and U.S. Application No. 16 / 929066, entitled “Resistance Control System and Method for Amusement Parks,” all of which are hereby incorporated in their entirety by reference for all purposes.

[0032] Considering the preceding text, Figure 4 An embodiment of a passenger vehicle 16 with an actuator system 300 (e.g., a mechanical system) is described, in which the actuator system 300 can be controlled to adjust the resistance to movement of the spring plate 32 (e.g., making it more difficult or easier for the customer 22 to move the spring plate 32 by transferring their weight) and / or actively adjust the spring plate 32 (e.g., drive the spring plate 32; adjust the force applied to the spring plate 32). It should be appreciated that the actuator system 300 may include a spring-based actuator system (e.g., Figure 1 ), motor-based actuator systems (e.g., Figure 2 and Figure 3 Or any other suitable type of actuator system or mechanical system. The spring plate 32 can support the seat 20 for the customer 22. The customer 22 can wear a VR device 24, which may include or be coupled to a VR controller 26, the VR controller 26 having a processor 62 and a memory 64.

[0033] It is currently recognized that each customer 22 may have different characteristics (e.g., weight, activity level, mobility), which can affect how each customer 22 moves during a ride cycle. Therefore, the vehicle controller 14 can be configured to control the actuator system 300 (e.g., Figure 1 Actuator 74; Figure 2The motor 220 can be configured to adjust the resistance to the movement of the spring plate 32 and / or actively adjust the spring plate 32 to interpret the different characteristics of each customer 22, so that each customer 22 can enjoy the attraction 10 (e.g., being provided with a motion experience while riding in the vehicle 16; feeling as if they are controlling the vehicle 16). For example, the vehicle controller 14 can be configured to control the actuator system 300 based on inputs related to the customer 22's head position and / or movement, eye position and / or movement and / or body position and / or movement (e.g., hands, limbs and / or transferred weight).

[0034] In an embodiment, the vehicle controller 14 may be configured to: receive signals from one or more sensors (e.g., signals that may indicate head position and / or movement, eye position and / or movement and / or body position and / or movement); process the signals to determine the intention of the customer 22; and then control the actuator system 300 based on the intention of the customer 22. For example, detecting that the customer 22 is tilting backward and to the left may be interpreted as the customer 22's intention to control the vehicle 16 to move upward and to the left. As another example, detecting that the customer 22's head is tilted to the left and / or turned may be interpreted as the customer 22's intention to control the vehicle 16 to move to the left.

[0035] In an embodiment, the 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 customer 22's head. This position may be relative to the customer 22's body (e.g., angular position) and / or relative to the ground 54 or a gravity vector, and the movement may be velocity, acceleration, and / or direction of movement. As shown, the head position sensor 322 may be worn on the customer 22's head. For example, the head position sensor 322 may be integrated into and / or coupled to the VR device 24 or other devices worn on the customer 22's head. In some such cases, the head position sensor 322 may be an accelerometer and / or a gyroscope. However, it should be appreciated that the head position sensor 322 can be any other suitable type of sensor (such as an image sensor (e.g., LiDAR, infrared, camera-based, speckle tracker, skeletal tracker, optical tracker, RFID reader reading an RFID tag worn by the customer 22)) mounted on or otherwise approaching the vehicle 16 to obtain an image indicating the relative position and / or movement of the customer 22's head. Regardless of the location and / or type of the head position sensor 322, the head position sensor 322 can provide the vehicle controller 14 with a signal indicating the position and / or movement of the customer 22's head (e.g., via wireless communication with the vehicle controller 14 and / or via the VR controller 26).

[0036] As discussed above, customer 22 can move (e.g., rotate) spring plate 32 generally by moving their body (e.g., tilting their body; shifting their weight). However, customer 22 can initiate such movement (e.g., tilting movement) with their head. For example, customer 22 can use their head to guide their head to move in one direction, and then their body (e.g., center of gravity) moves in that direction. Vehicle controller 14 can process signals from head position sensor 322 to determine customer 22's intention (e.g., anticipated movement for riding vehicle 16). For example, if the signal indicates that customer 22 suddenly tilts their head to their left, vehicle controller 14 can determine that customer 22 intends to tilt spring plate 32 downwards to their left (e.g., roll). In response to determining the intent and the corresponding expected movement, the vehicle controller 14 may then reduce the resistance of the leaf spring 32 to the expected movement (e.g., to make it easier for the customer 22 to tilt the leaf spring 32 down to their left) and / or may actively adjust the leaf spring 32 to achieve the expected movement (e.g., to tilt the leaf spring 32 down to their left).

[0037] Advantageously, determining the customer 22's intention based on signals from the head position sensor 322 (e.g., alone or in combination with other signals) allows the vehicle 16 to move more easily for the customer 22, and / or provides a responsive riding experience even if the customer 22 has difficulty transferring their weight. Furthermore, since the customer 22 may tend to point with their head, determining the customer 22's intention based on signals from the head position sensor 322 allows the vehicle controller 14 to anticipate (e.g., predict) how the customer 22 is likely to move their body. As a result, the resistance of the spring plate 32 and / or the adjustment of the spring plate 32 can occur before and / or during the initial or beginning period of the customer 22's body movement. In this way, the customer 22 can feel as if the spring plate 32 is moving with their body (e.g., without delay), and the customer 22 can have a more responsive, realistic motion experience.

[0038] The transportation control system 12 may include other types of sensors that monitor the characteristics of the customer 22, and these characteristics may be processed by the transportation controller 14 to determine the customer 22's intentions. For example, the transportation 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 eyes of the customer 22. As shown, the eye position sensor 324 may be integrated into and / or coupled to the VR device 24 or other devices worn on the customer 22's head. However, in embodiments where the customer 22 is not wearing the VR device 24 or other devices worn on the customer 22's head, the eye position sensor 324 may be mounted on or otherwise proximate to the transportation vehicle 16 to monitor the position and / or movement of one or both eyes of the customer 22. As an example, the eye position sensor 324 may be an image sensor configured to acquire images indicating a gaze point (e.g., where the customer 22 is looking) and / or the movement of the eyes relative to the customer 22's head. Regardless of the location and / or type of the eye position sensor 324, the eye position sensor 324 can provide the vehicle controller 14 with signals indicating the position (e.g., gaze point) and / or movement of one or both eyes of the customer 22 (e.g., via wireless communication with the vehicle controller 14 and / or via the VR controller 26).

[0039] As discussed above, customer 22 can move (e.g., rotate) spring plate 32 generally by moving their body (e.g., tilting their body; shifting their weight). However, customer 22 can initiate such movement (e.g., tilting movement) with their head and / or their eyes. For example, customer 22 can scan with their eyes in the direction they wish to move or tilt, causing their eyes to move in that direction, and then their body (e.g., center of gravity) moves in that direction. Vehicle controller 14 can process signals from eye position sensor 324 to determine customer 22's intention. For example, if the signal indicates that customer 22 suddenly shifts their gaze to their left, vehicle controller 14 can determine that customer 22 intends to rotate spring plate 32 to their left (e.g., tilt). In response to determining the intent and the corresponding expected movement, the vehicle controller 14 may then reduce the resistance of the spring plate 32 to the expected movement (e.g., to make it easier for the customer 22 to rotate the spring plate 32), and / or may actively adjust the spring plate 32 to achieve the expected movement (e.g., to rotate the spring plate 32).

[0040] It is also recognized that tracking one or both eyes of customer 22 can be particularly useful in determining the expected rearward tilt of customer 22 (e.g., pitch; rotating spring plate 32 rearward so that the rear portion of spring plate 32 behind customer 22 is lower than the front portion of spring plate 32 in front of customer 22 (e.g., closer to the ground 54)), because customer 22 may hesitate or find it difficult to tilt their head and / or their body rearward when positioned in the vehicle 16. Therefore, such movement of one or both eyes of customer 22 can cause vehicle controller 14 to reduce the drag of spring plate 32 to make it easier for customer 22 to rotate spring plate 32 rearward (e.g., with a relatively small weight transfer), and / or actively adjust spring plate 32 to rotate spring plate 32 rearward.

[0041] Advantageously, determining the customer 22's intention 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) can make it easier for the vehicle 16 to move for the customer 22, and / or provide a responsive riding experience even if the customer 22 has difficulty transferring their weight. Furthermore, since the customer 22 may tend to guide with their eyes, determining the customer 22's intention based on signals from the eye position sensor 324 allows the vehicle controller 14 to anticipate (e.g., predict) how the customer 22 is likely to move their body. As a result, the resistance of the spring plate 32 and / or the adjustment of the spring plate 32 can occur before and / or during the initial or initial period of the customer 22's body movement. In this way, the customer 22 can feel as if the spring plate 32 is moving with their body (e.g., without delay), and the customer 22 can have a more responsive, realistic motion experience.

[0042] In one embodiment, the vehicle control system 12 may include an array of weight sensors 326 (e.g., in seat 20 and / or in spring plate 32) configured to monitor the position and / or movement (e.g., weight transfer; center of gravity shift) of the customer 22's body. The weight sensors 326 may be pressure sensors spaced apart from each other and / or extending across the seating surface of the customer 22. In another embodiment, the vehicle control system 12 may include one or more grip sensors 328 configured to detect the grip strength (e.g., force exerted by the customer 22's hands), grip position (e.g., hand position; direction of force exerted by the customer 22's hands), and / or grip movement (e.g., hand movement; change in the force exerted by the customer 22's hands) of one or both hands of the customer 22. The grip sensors 328 may be pressure sensors positioned on one or more handles of the vehicle 16, or on another portion of the vehicle 16 configured to be gripped by the customer 22 during a riding cycle. In one embodiment, the vehicle control system 12 may include one or more skeletal sensors 330 configured to monitor the position and / or movement of the skeletal features (e.g., limbs) of the customer 22. The skeletal sensors 330 may include image sensors (e.g., LiDAR, infrared, camera-based, speckle trackers, skeletal trackers, optical trackers, RFID readers that read RFID tags worn by the customer 22). The image sensors may be positioned on or near the vehicle 16 to monitor the position and / or movement of the customer 22's skeletal features. Regardless of the position and / or type of the weight sensor 326, the grip sensor 328, and / or the skeletal sensors 330, these sensors may provide signals to the vehicle controller 14 indicating the position and / or movement of the customer 22's body.

[0043] As discussed above, customer 22 can move (e.g., rotate) leaf spring 32 by moving their body relative to seat 20 (e.g., tilting their body; transferring their weight). Vehicle controller 14 can process signals from the array of weight sensors 326 to determine customer 22's intention (e.g., anticipated movement). For example, when customer 22 wishes to rotate leaf spring 32 downwards (e.g., roll) on the left side of seat 20, customer 22 can transfer their weight to the left edge of seat 20.

[0044] During the ride, customer 22 can also adjust their grip (e.g., hand grip) at grip sensor 328 in a manner that indicates their intention. For example, when customer 22 wishes to rotate forward (e.g., pitch), customer 22 can grip the handle more tightly and / or push against the handle forward, and / or when customer 22 wishes to rotate backward (e.g., pitch), customer 22 can grip the handle more loosely and / or pull against the handle backward. Similarly, when customer 22 wishes to rotate to one side or turn (e.g., yaw), customer 22 can push against one of the handles forward and pull against one of the handles backward. During the ride, customer 22 can adjust their skeletal features (e.g., limbs) in a manner that indicates their intention. For example, when customer 22 wishes to rotate forward (e.g., pitch), customer 22 can bend their arm at their elbow, and / or when customer 22 wishes to rotate backward (e.g., pitch), customer 22 can straighten their arm at their elbow. Similarly, when customer 22 wishes to rotate to one side or turn (e.g., deflect), customer 22 can bend one elbow and straighten the other elbow.

[0045] The vehicle controller 14 can process signals from an array of weight sensors 326, grip sensors 328, and / or skeletal sensors 330 (e.g., individually 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 customer 22. As noted above, in response to determining the intention and the corresponding expected movement, the vehicle controller 14 can then reduce the resistance of the spring plate 32 to the expected movement (e.g., to make it easier for the customer 22 to move the spring plate 32), and / or can actively adjust the spring plate 32 to achieve the expected movement (e.g., to move the spring plate 32).

[0046] In an embodiment, the vehicle controller 14 may receive additional input (e.g., signals) related to a riding element (such as a virtual feature being presented to the customer 22 via the VR device 24). The vehicle controller 14 may use the additional input to determine the customer 22's intention. For example, if the additional input indicates that the customer 22 is being presented with a virtual road that turns to their left, the vehicle controller 14 may determine that the customer 22's intention is to turn to their left (e.g., yaw). In response to determining the intention and the corresponding expected movement, the vehicle controller 14 may then reduce the resistance of the leaf spring 32 to the expected movement (e.g., to make it easier for the customer 22 to turn the leaf spring 32) and / or may actively adjust the leaf spring 32 to achieve the expected movement (e.g., to turn the leaf spring 32).

[0047] It should be recognized that the riding element can be utilized as one of many inputs (e.g., in addition to signals from one or more sensors) to determine the intention of customer 22. In embodiments, the riding element can be utilized as a secondary input, such as in cases where signals from one or more sensors conflict with each other (e.g., regarding the intention of customer 22). For example, if a signal from at least a first sensor (e.g., head position sensor 322) indicates that the intention of customer 22 is to turn to their left, but a signal from at least a second sensor (e.g., grip sensor 328) indicates that the intention of customer 22 is to turn to their right, then the vehicle controller 14 can take the riding element into account to determine the intention of customer 22 and / or control the actuator system 300 in an appropriate manner to provide the customer 22 with an enjoyable riding experience (e.g., to maximize consistency or coordination with the riding element so as to turn to their left in the event that the virtual road turns to their left).

[0048] It should be understood that the ride element can be a virtual element presented via VR device 24. In embodiments, such as when VR device 24 is not used during a ride cycle, the ride element can include real physical elements within attraction 10. Whether the ride element is a virtual element or a real physical element, the ride element can include any of a wide variety of objects and / or effects such as roads, buildings, characters (e.g., animals, robots), flashes, sounds, etc. For example, depending on the ride element, the vehicle controller 14 can determine or consider whether the customer 22 intends to deflect toward the ride element (e.g., to follow a character due to interest in the character) or deflect away from the ride element (e.g., to avoid a sound due to being startled by the sound).

[0049] The vehicle controller 14 can also control the actuator system 300 in different ways throughout the ride cycle (e.g., while the customer 22 is in the vehicle 16; between boarding and alighting from the vehicle 16). For example, the ride cycle may include a first portion in which the actuator system 300 operates in a semi-passive mode to enable the customer 22 to control the movement of the vehicle 16 (e.g., by transferring weight), and the ride cycle may include a second portion in which the actuator system 300 operates in an active mode to actively drive the movement of the vehicle 16 and / or prevent the customer 22 from controlling the movement of the vehicle 16 (e.g., by transferring 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., across a relatively low resistance range) to enable the customer 22 to control the movement of the ride vehicle 16 with relatively small movements of their body (e.g., by transferring weight), and the ride cycle may include a second portion in which the actuator system 300 operates in a semi-passive mode with relatively high resistance (e.g., across a relatively high resistance range) to enable the customer 22 to control the movement of the ride vehicle 16 with relatively large movements of their body (e.g., by transferring weight). Thus, movement (e.g., weight transfer) during the first portion of the ride cycle may result in a first movement of the spring plate 32, but movement during the second portion of the ride cycle may result in a second movement of the spring plate 32 (or the spring plate 32 may not move). The vehicle controller 14 can also adjust the resistance over the duration of the ride cycle by increasing the resistance in response to determining that the ride cycle is nearing completion, the customer 22 is entering a specific area of ​​the simulated environment supported by the VR device 24, the customer 22 has performed a task within the simulated environment, or the customer 22 has provided user input indicating requested resistance adjustment. This allows the control type (e.g., semi-passive, active) and / or resistance variations to simulate different experiences during the ride cycle, such as driving along the road with easy control of the vehicle 16 during sunny weather conditions, and then sweeping along the road with low (or no) control of the vehicle 16 during inclement weather conditions. In this way, the vehicle controller 14 controls the actuator system 300 in a manner coordinated with the ride cycle and / or the ride elements presented to the customer 22.

[0050] In an embodiment, the vehicle controller 14 may control the actuator system 300 to encourage and / or cause certain results. Furthermore, the VR controller 26 may also present virtual features to encourage and / or cause certain results. For example, the vehicle controller 14 may control the actuator system 300 to reduce resistance to movement in one direction (e.g., relative to other directions) to encourage the customer 22 to shift their weight to guide them in that direction to ride the vehicle 16 (e.g., by making it easier for the customer 22). The VR controller 26 may simultaneously present virtual features such as roadblocks that encourage the customer 22 to shift their weight to guide them in that direction to ride the vehicle 16 to avoid the virtual features. In this way, the vehicle controller 14 and / or the VR controller 26 may act on the movement of the vehicle 16 while still allowing the customer 22 to feel as if they are under the control of the vehicle 16.

[0051] As noted above, the intention of customer 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 riding elements. The vehicle controller 14 can input these factors into an algorithm that may include lookup tables (e.g., associating various detected movements with corresponding changes in resistance and / or action for actuator system 300) to determine the intention of customer 22. In embodiments, the algorithm may apply different weights to the various factors. For example, the position and / or movement of customer 22's head may be weighted most heavily. In embodiments, machine learning can be used to associate the various factors with the intention. As used herein, machine learning can refer to a mathematical model that can be used to perform a task (e.g., make a prediction or decision) without the use of explicit instructions (instead relying on patterns and inference). Training data (e.g., sample data, historical data) can be used to generate the mathematical model.

[0052] In an embodiment, it may be desirable to control the actuator system 300 in a manner tailored (e.g., personalized) to customer 22. As noted above, each customer 22 may have certain characteristics that affect their ability to transfer their weight to move the vehicle 16. For example, a first customer may have low weight, low activity level, and / or low mobility. However, a second customer may have high weight, high activity level, and / or high mobility. In the absence of the disclosed embodiment (e.g., without dynamically adjusting the resistance to movement of the spring plate 32), it may be difficult to provide an enjoyable experience for both the first and second customers, given their different characteristics. For example, the first customer may have difficulty moving the vehicle 16 by transferring their weight, while the second customer may be able to move the vehicle 16 easily by transferring their weight. Thus, in an embodiment, the vehicle controller 14 may access and / or identify the characteristics of customer 22 and then control the actuator system 300 in a manner suitable to the characteristics of customer 22. The vehicle controller 14 can set the resistance to suit the characteristics of customer 22, set the extreme positions of the spring plate 32 to suit the characteristics of customer 22 (e.g., maximum roll, pitch, and / or yaw), and the rate of change in the position of the spring plate 32 when actively driven. The vehicle controller 14 can also access and / or identify the skill level of customer 22, which can be based on the number of ride cycles previously completed by customer 22. In this way, the vehicle controller 14 can adapt to customers with less skill or experience by adjusting to extremes that suggest movements with intentions different from those for customers with more skill or experience. Generally, algorithms (e.g., lookup tables) can account for variations in aspects of movements performed by different customers (e.g., by taking into account characteristics including skill level), because a movement performed by one customer can suggest a different intention than the same movement performed by another customer.

[0053] In an embodiment, the vehicle controller 14 may determine the characteristics of the customer 22 during the initial portion of a ride cycle (e.g., during the ride and / or during a first period after the ride; during the calibration portion of the ride cycle). For example, during the initial portion of the ride cycle, an array of weight sensors 326 may obtain the weight of the customer 22, and a skeletal sensor 330 may determine the dimensions (e.g., height) of the customer 22. Furthermore, during the initial portion of the ride cycle, the customer 22 may move in various ways (e.g., in response to instructions that may be presented via the VR device 24; as encouraged by the actuator system 300 and / or the VR device 24). Then, 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 the customer 22. This may indicate the level of activity and / or mobility of the customer 22 (e.g., the intensity of input that the customer 22 is able to provide and / or is likely to provide while riding in vehicle 16). Finally, the vehicle controller 14 can determine the activity level and / or mobility of the customer 22 based on signals received from one or more sensors.

[0054] The weight, size, activity level, and / or mobility of customer 22 may play a role in or influence how customer 22 moves when positioned on vehicle 16. In embodiments, vehicle controller 14 may classify customer 22 (e.g., based on characteristics), and / or vehicle controller 14 may control actuator system 300 based on the characteristics of customer 22 throughout at least some or all of the remainder of the ride cycle (e.g., after the initial portion of the ride cycle). For example, actuator system 300 may be controlled to provide varying resistance across a range of lower resistance values ​​for a first customer, and may be controlled to provide varying resistance across a range of higher resistance values ​​for a second customer.

[0055] In an embodiment, during the initial portion of the ride cycle, the vehicle controller 14 may also determine which input(s) the customer 22 uses or prefers to attempt to control the vehicle 16. For example, the vehicle controller 14 may determine that the first customer primarily uses one type of input (e.g., changing their grip) and / or uses another type of input (e.g., transferring weight) or does not use the other type of input. In such a case, the actuator system 300 may be controlled to actively drive the spring plate 32 in response to changes in the first customer's grip, rather than relying on the first customer to transfer their body weight. Alternatively, the actuator system 300 may be controlled to reduce resistance in response to determining the user's intention based on changes in the first customer's grip, thereby making it easier for the first customer 22 to subsequently move the spring plate 32 with their body weight. Thus, each customer can be provided with a motion experience by transferring their weight and / or moving in other ways (e.g., changing their grip), in which they feel as if they are under the control of the vehicle 16 (e.g., the vehicle 16 responds to their movement). Importantly, even if each customer has certain limitations regarding their physical abilities and / or does not overexert themselves, they can still be provided with a sporting experience, thus offering a more enjoyable experience for all customers.

[0056] Additionally, the vehicle controller 14 may operate the vehicle 16 in active mode for some customers but not others. Alternatively, the vehicle controller 14 may operate the vehicle 16 in active mode more frequently for some customers and less frequently for others. For example, active mode may be used more frequently to provide movement for a first customer and less frequently for a second customer (because the second customer has a greater capacity to transfer their weight to move the vehicle 16). In an embodiment, after determining that the customer 22's intention is to move the vehicle 16 (e.g., in one direction), the vehicle controller 14 may switch from operating the vehicle 16 in semi-passive mode to operating it in active mode in response to failure to detect the transfer of weight by the customer 22 and / or in response to failure to detect movement of the vehicle 16 (e.g., desired movement; in that direction). For example, after determining an intention based on one or more signals indicating movement of the customer 22's head, movement of the customer 22's eyes, changes in the customer 22's grip, and / or changes in the customer 22's limb positioning, the vehicle controller 14 may reduce resistance to the movement of the vehicle 16. However, if the vehicle 16 does not move during the period following the reduction in resistance, the vehicle controller 14 may switch to active mode operation and may drive the movement of the vehicle 16 (e.g., in that direction).

[0057] In some embodiments, the characteristics of customer 22 may be stored in a database (e.g., as a stored profile for customer 22). An identifier for customer 22 may be stored along with the characteristics of customer 22. Then, during subsequent rides by customer 22, the vehicle controller 14 may access the characteristics from the database and may control the actuator system 300 appropriately for customer 22 (e.g., not monitoring during the initial portion of the ride cycle and / or other than such monitoring). For example, customer 22 may wear an identification device (e.g., a wearable device with a radio frequency identification (RFID) tag unique to customer 22). In such a case, when customer 22 is riding in vehicle 16, an RFID reader communicatively coupled to the vehicle controller 14 can read an identifier (e.g., a code) from the RFID tag, and the identifier may be associated with and stored along with the characteristics of customer 22. Then, during subsequent rides by customer 22, the RFID reader can again read the identifier from the RFID tag, providing the identifier to the vehicle controller 14, allowing the vehicle controller to access the characteristics of customer 22 from the database. It should also be recognized that customer 22 can input identifiers and / or characteristics via an input device (e.g., on a vehicle 16 or in a queue for attraction 10; before entering the amusement park). In an embodiment, customer 22 can input preferences related to the resistance (e.g., low or high resistance level) and / or motion (e.g., low or high motion level) they wish to experience while riding vehicle 16. These preferences can be stored in a database and can be associated with identifiers.

[0058] It should be understood that the vehicle controller 14 may also receive signals from one or more vehicle sensors 340, wherein the signals indicate the position (e.g., tilt) and / or movement of the vehicle 16. For example, the vehicle sensors 340 may include inclinometers, accelerometers, and / or position sensors. The vehicle controller 14 may then control the actuator system 300 based on the signals from the one or more vehicle sensors 340 and the intention of the customer 22. In this way, when controlling the actuator system 300 to reduce resistance to movement of the leaf spring 32 and / or actively actuating the leaf spring 32, the vehicle controller 14 can interpret the current position of the vehicle 16. For example, if the vehicle 16 is already at a limit position in a direction (e.g., maximum roll, pitch, and / or yaw), the vehicle controller 14 may not further reduce resistance in that direction and / or may not actively actuate the leaf spring 32 to move in that direction. Similarly, if vehicle 16 has already turned left, and the customer 22's intention (e.g., as determined by vehicle controller 14) is to move right, vehicle controller 14 may adjust resistance and / or drive vehicle 16 to reach a centered or neutral position (e.g., rather than turning vehicle 16 right). Signals from one or more vehicle sensors 340 may also be used by VR controller 26 to provide virtual images to customer 22 in a manner corresponding to the movement of vehicle 16.

[0059] As noted above, the actuator system 300 can operate in a semi-passive mode to impart resistance to the movement of the spring plate 32 (e.g., via...). Figure 1 The movement of the actuator plate 70 in the middle; via Figure 2 and Figure 3 The torque output of motor 220 in the motor). In some such cases, the vehicle controller 14 may refer to the resistance setting database 332 to determine a specific target resistance (e.g., suitable for the characteristics of customer 22 and / or riding cycle) and settings for actuator system 300 (e.g., Figure 1 The position of the actuator plate 70 in the middle; Figure 2 and Figure 3 The torque output of the motor 220 in the motor is used to achieve a specific target resistance. Alternatively, the actuator system 300 can operate in an active mode, wherein the spring plate 32 is driven to move (e.g., in...). Figure 2 and Figure 3In this mode, the vehicle controller 14 directs one or more motors 220 to output torque that overcomes the force exerted on the spring plate 32 by the customer 22, thereby positioning the spring plate 32. In practice, in active mode, the vehicle controller 14 can operate the actuator system 300 to drive the spring plate 32 to move in an desired manner (e.g., to a target position or orientation), rather than enabling the customer 22 to drive the movement of the spring plate 32 (e.g., as in semi-passive mode). For example, the vehicle controller 14 can operate in active mode to move the spring plate 32 and impart a certain feel and riding experience to the customer 22. The vehicle controller 14 can use the customer 22's intention and the current position of the spring plate 32 to determine the appropriate way to control the actuator system 300 to move the spring plate 32 (e.g., the appropriate torque to be output by one or more motors 220 to cause the desired movement of the spring plate 32). It should be appreciated that the vehicle controller 14 can also receive feedback or input indicating the current resistance (e.g., Figure 1 The length of actuator 74 in the middle; by Figure 2 and Figure 3 The torque output by the motor 220 in the vehicle is used to enable the vehicle controller 14 to adjust the resistance appropriately for the customer 22.

[0060] The vehicle controller 14 may be included in the housing or chassis of the passenger vehicle 16, or the vehicle controller 14 may be located remotely from the passenger vehicle 16 and coordinate the operation of multiple passenger vehicles 16. The vehicle controller 14 includes a processor 90 that provides instructions to the actuator system 300 and a memory 92 that stores the instructions for the processor 100. The memory 92 may also store a resistance setting database 332. However, it is to be understood that any component can be suitably stored in any suitable location (e.g., within a cloud database) and updated from any suitable location. The processor 90 may include one or more processors, such as a general-purpose processor, a system-on-a-chip (SoC) device, an application-specific integrated circuit (ASIC), or some other similar processor configuration, capable of executing instructions for implementing the techniques disclosed herein. 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 apparatus. It should be recognized that the processing steps and techniques disclosed herein may be implemented 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 any other type of additional controller (such as a customer tracking controller that receives, transmits and / or processes signals indicating the location and / or movement of the customer 22)).

[0061] Figure 5This is a flowchart illustrating an embodiment of a method 400 for controlling an actuator system of a vehicle. The method 400 disclosed herein includes various steps indicated by blocks. It should be noted that at least some steps of method 400 can be implemented as an automated procedure by a computing system (such as a vehicle controller). Although the flowchart illustrates the steps in a certain sequence, it should be understood that, where appropriate, the steps can be performed in any suitable order, and some steps can be performed simultaneously. Furthermore, steps can be added to method 400 or omitted from method 400.

[0062] As shown, in step 402, method 400 may begin by receiving a signal indicating the position and / or movement of a customer supported in a vehicle. The signal may include a signal from a head position sensor, indicating the position and / or movement of the customer's head. Alternatively or additionally, the signal may include a signal from an eye position sensor, indicating the position and / or movement of one or both eyes of the customer. Alternatively or additionally, the signal may include a signal from an array of weight sensors, indicating weight transfer of the customer. Alternatively or additionally, the signal may include a signal from a grip sensor, indicating the customer's grip strength, hand position, and / or hand movement. Alternatively or additionally, the signal may include a signal from a skeletal sensor, indicating the skeletal position and / or movement of the customer (e.g., limb position and / or movement). For example, one or more signals indicating one or more positions and / or movements of the customer may be received at the vehicle controller.

[0063] As shown in step 404, method 400 can then proceed to determine the customer's intention based on signals (e.g., how the customer wishes or expects to move the vehicle; the expected movement of the vehicle). It is now recognized that position(s) and / or movement(s) can indicate a customer's intention. For example, when a customer wishes to turn or move the vehicle to their left, they may move their head to their left. The vehicle controller can use one or more algorithms to determine the customer's intention based on signals. As noted herein, the vehicle controller may also consider riding elements to determine the customer's intention.

[0064] As shown in step 406, method 400 may further include receiving a signal indicating the position (e.g., tilt) of the vehicle. The signal may include signals from vehicle sensors coupled to the vehicle and may be received at a vehicle controller. In step 408, method 400 may include controlling the actuator system based on the customer's intent and the position of the vehicle. For example, the vehicle controller may instruct the actuator system to adjust the resistance to movement of the leaf spring of the vehicle to adjust the vehicle's response to weight transferred by the customer (e.g., to make it easier or more difficult for the customer to rotate the leaf spring). In an embodiment, the vehicle controller may instruct the actuator system to actively drive the leaf spring of the vehicle. As noted herein, the vehicle controller may perform other steps, such as determining customer characteristics, accessing a resistance setting database, determining an appropriate resistance setting based on customer characteristics and / or riding cycle, etc., to provide a motion experience to the customer. Furthermore, the vehicle controller may control the actuator system such that the motion experience is coordinated with a visual experience that may be presented to the customer via a VR device. For example, a vehicle controller can adjust the resistance to the movement of a leaf spring based on visual experience (e.g., to provide the customer with a lower degree of control during some parts of the ride cycle and a higher degree of control during other parts of the ride cycle).

[0065] The technical advantages of the disclosed passenger vehicle control system include the ability to dynamically adjust the resistance of the passenger vehicle and / or actively control the movement of the passenger vehicle based on various inputs from customers in the passenger vehicle. The disclosed passenger vehicle control system provides an improved experience for customers with a wide range of characteristics.

[0066] While only certain features of this disclosure have been described and illustrated herein, many modifications and alterations will occur to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all such modifications and alterations that fall within the true spirit of this disclosure. It should be appreciated that any feature described or illustrated above with respect to the drawings may be combined in any suitable manner.

[0067] The techniques proposed and claimed herein are referenced and applied to substantial objects and specific examples of practical nature that can arguably improve the technical field and are therefore not abstract, intangible, or purely theoretical. Furthermore, if any claim appended to this specification contains one or more elements designated as “component for [implementing]...[function]” or “step for [implementing]...[function]”, such elements are intended to be interpreted according to 35U.SC112(f). However, for any claim containing elements designated in any other way, such elements are not intended to be interpreted according to 35U.SC112(f).

Claims

1. A transportation control system for a tourist attraction, the transportation control system comprising: Multiple sensors configured to monitor customers supported by the vehicle; An actuator system configured to be coupled to the vehicle; as well as One or more processors configured to: Signals are received from the plurality of sensors, wherein the signals indicate the location of the customer, the movement of the customer, or both; The expected movement of the vehicle is determined based on the signal; as well as The actuator system is controlled to adjust the resistance to the movement of the vehicle, to adjust the force applied to the vehicle, or both, to facilitate the desired movement.

2. The vehicle control system according to claim 1, wherein, The plurality of sensors include a head position sensor, and the signals include one or more signals indicating the customer's head position, the customer's head movement, or both.

3. The vehicle control system according to claim 1, wherein, The plurality of sensors include an eye position sensor, and the signals include one or more signals indicating the eye position of one or both of the customer's eyes, eye movement of the one or both of the customer's eyes, or both.

4. The vehicle control system according to claim 1, wherein, The plurality of sensors include a grip sensor, and the signals include one or more signals indicating the customer's grip position, grip strength, grip movement, or any combination thereof.

5. The vehicle control system according to claim 1, wherein, The plurality of sensors include a skeletal sensor, and the signals include one or more signals indicating the customer’s limb position, the customer’s limb movement, or both.

6. The vehicle control system according to claim 1, wherein, The actuator system includes: One or more motors; and One or more linkage systems configured to couple the one or more motors to the passenger vehicle, wherein the one or more processors are configured to adjust the resistance to the movement of the passenger vehicle by controlling the output torque of the one or more motors.

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

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

9. The vehicle control system according to claim 1, wherein, The actuator system is configured to operate in a semi-passive mode that enables the customer to move the vehicle by transferring their body weight.

10. A transportation control system for a tourist attraction, the transportation control system comprising: One or more processors configured to: A first signal is received from a head position sensor, wherein the first signal indicates the position of the customer's head, the movement of the customer's head, or both. Based on the first signal, the expected movement of the vehicle is determined; and The actuator system is controlled to adjust the resistance to the movement of the passenger vehicle in order to facilitate... The expected movement.

11. The vehicle control system according to claim 10, wherein, The one or more processors are configured to: A second signal is received from an eye position sensor, wherein the second signal indicates the eye position of one or both eyes of the customer, eye movement of the one or both eyes of the customer, or both; and The expected movement of the vehicle is determined based on the first signal and the second signal.

12. The vehicle control system according to claim 11, wherein, The one or more processors are configured to: A third signal is received from the grip sensor, wherein the third signal indicates grip strength, the customer's grip position, the customer's grip movement, or any combination thereof; and The expected movement of the vehicle is determined based on the first signal, the second signal, and the third signal.

13. The vehicle control system according to claim 11, wherein, The one or more processors are configured to: A fourth signal is received from the bone sensor, wherein the fourth signal indicates the customer's limb position, the customer's limb movement, or both; and The expected movement of the vehicle is determined based on the first signal, the second signal, and the fourth signal.

14. The vehicle control system according to claim 10, wherein, The one or more processors are configured to: The presentation of virtual images to the customer is controlled by the VR device worn by the customer; and The expected movement of the vehicle is determined based on the first signal and the virtual image being presented to the customer via the VR device worn by the customer.

15. The vehicle control system according to claim 10, comprising the actuator system, wherein, The actuator system includes: One or more motors; and One or more linkage systems configured to couple the one or more motors to the passenger vehicle, wherein the one or more processors are configured to control the output torque of the one or more motors to adjust the resistance to the movement of the passenger vehicle to facilitate the desired movement.

16. The vehicle control system according to claim 10, wherein, The one or more processors are configured to: Determine one or more characteristics of the customer, including characteristics corresponding to the customer's body weight; and The actuator system is controlled based on one or more of the customer's characteristics to adjust the resistance in order to facilitate the desired movement.

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

18. The vehicle control system according to claim 10, wherein, The one or more processors are configured to operate the actuator system in a semi-passive mode to enable the customer to move the vehicle by transferring body weight.

19. The vehicle control system according to claim 10, wherein, The one or more processors are configured to operate the actuator system in active mode to drive the vehicle in accordance with the expected movement.

20. A method for operating a vehicle control system, the method comprising: A first signal is received from a head position sensor at one or more processors, wherein the first signal indicates the position of the customer's head, the movement of the customer's head, or both. The one or more processors are used to determine the expected movement for the vehicle based on the first signal; and The one or more processors are used to control the actuator system to adjust the resistance to movement of the vehicle to facilitate the intended movement caused by the transfer of body weight by the customer.

21. A control system for a means of transportation, comprising: A computing system that includes one or more processors; as well as A memory that stores instructions executable by the computing system to cause the computing system to: Receive one or more signals from one or more sensors, wherein the one or more signals indicate the position of a passenger in a vehicle, the movement of the passenger in the vehicle, or any combination thereof; The expected movement of the vehicle is determined based on one or more of the signals. as well as Refers to a actuator system that adjusts the resistance to the movement of the vehicle, to drive the movement of the vehicle, or any combination thereof, to facilitate the intended movement.

22. The vehicle control system according to claim 21, comprising the one or more sensors, wherein, At least one of the one or more sensors is located inside the vehicle.

23. The vehicle control system according to 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 indicating the position of the customer's head, the movement of the customer's head, or any combination thereof.

24. The vehicle control system according to 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 indicating the position of the customer's eyes, the movement of the customer's eyes, or any combination thereof.

25. The vehicle control system according to 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 indicating the position of the customer's grip, the movement of the customer's grip, or any combination thereof.

26. The vehicle control system according to 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 indicating the position of the customer's limb, the movement of the customer's limb, or any combination thereof.

27. The vehicle control system according to 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 indicating the customer's position based on the customer's weight, the customer's movement based on the customer's transfer weight, or any combination thereof.

28. The vehicle control system according to claim 21, wherein, The instructions can be executed by the computing system to cause the computing system to control the presentation of virtual images to the customer via the VR device worn by the customer.

29. The vehicle control system according to claim 28, wherein, The instruction can be executed by the computing system to cause the computing system to determine the expected movement of the vehicle based on the one or more signals and the virtual image presented to the customer via the VR device worn by the customer.

30. The vehicle control system according to claim 21, wherein, The instructions can be executed by the computing system to cause the computing system to: Determine one or more characteristics of the customer; The active mode operation is determined to be suitable for the customer based on one or more of the customer's characteristics. as well as In response to determining that the active mode operation is suitable for the customer and when the customer is positioned inside the vehicle, the actuator system is provided with the instruction to drive the movement of the vehicle to facilitate the intended movement.

31. The vehicle control system according to claim 30, wherein, The instructions can be executed by the computing system to cause the computing system to: Determine one or more characteristics of the additional customer; The semi-passive mode operation is determined to be suitable for the additional customer based on one or more of the corresponding characteristics of the additional customer. as well as In response to determining that the semi-passive mode operation is suitable for the additional customer and when the additional customer is positioned inside the vehicle, the actuator system is instructed to adjust the resistance to the movement of the vehicle to facilitate the intended movement.

32. A control system for a means of transportation, comprising: A computing system that includes one or more processors; as well as A memory that stores instructions executable by the computing system to cause the computing system to: Processing one or more signals received from one or more sensors to determine customer movement relative to a vehicle, wherein the one or more signals indicate the customer's position in the vehicle, the customer's movement in the vehicle, or both; and The actuator system is instructed to adjust the resistance to the movement of the vehicle, drive the vehicle to move, or both, based on the customer's movement relative to the vehicle.

33. The vehicle control system according to claim 32, wherein, The one or more signals include at least one signal indicating the transfer of the customer's weight relative to the vehicle being used.

34. The vehicle control system according to claim 32, wherein, The one or more signals include at least one signal indicating customer movement of the customer's head, customer movement of the customer's eyes, customer movement of the customer's limbs, or any combination thereof.

35. The passenger transport control system according to claim 32, comprising the passenger transport, wherein, The vehicle includes a movable part and a base part, and the instructions can be executed by the computing system to cause the computing system to instruct the actuator system to drive the movable part to move relative to the base part, thereby driving the vehicle to move.

36. The vehicle control system according to claim 32, wherein, The instructions can be executed by the computing system to cause the computing system to instruct the actuator system to drive the movement of the vehicle based on the customer's movement relative to the vehicle and based on a virtual image presented to the customer via a VR device worn by the customer in the vehicle.

37. The vehicle control system according to claim 32, wherein, The instructions can be executed by the computing system to cause the computing system to instruct the actuator system to drive at least a portion of the vehicle in a manner related to the customer's movement relative to the vehicle.

38. The vehicle control system according to claim 32, wherein, The instructions can be executed by the computing system to cause the computing system to: Processing the one or more signals received from one or more sensors to determine the customer's movement relative to the vehicle includes at least a portion of the customer's slant along a first direction; as well as The actuator system is directed to drive at least a portion of the passenger vehicle along the first direction, thereby driving the passenger vehicle to move.

39. A method for operating a vehicle control system, the method comprising: Receive one or more signals from one or more sensors, wherein the one or more signals indicate one or more customer inputs, including the location of a customer in a vehicle, the movement of the customer in the vehicle, or any combination thereof; and Based on the position of the customer in the vehicle, the movement of the customer in the vehicle, or any combination thereof, the actuator system is instructed to adjust the resistance to the movement of the vehicle to drive the vehicle to move, or both, so that the customer can control the vehicle via the one or more customer inputs.

40. The method of claim 39, comprising: Processing the signals received from the one or more sensors to determine that the movement of the customer in the vehicle includes at least a portion of the customer deflecting in a first direction; as well as The actuator system is instructed to drive at least a portion of the passenger vehicle along the first direction, thereby moving the passenger vehicle based on the movement of the customer in the passenger vehicle.

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