System and method for checking tracks of amusement spots

Abstract

A scenic spot system includes a track, a support vehicle having a wheel assembly configured to adjustably engage the track, and having a sensor configured to capture a characteristic of the scenic spot system. Further, the scenic spot system includes a control assembly configured to control the support vehicle through the track via the wheel assembly and to receive sensor data from the sensor indicative of a characteristic of the scenic spot system.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 406,126, filed on September 13, 2022, entitled “SYSTEMS AND METHODS FOR INSPECTION OF A TRACK OF AN AMUSEMENT ATTRACTION,” which is incorporated herein by reference in its entirety for all purposes. Background Art

[0002] This section is intended to introduce the reader to various aspects of the technology that may be related to various aspects of the technology described and / or claimed below. This discussion is considered to be helpful in providing the reader with background information to facilitate a better understanding of various aspects of the present disclosure. Therefore, it should be understood that these statements should be interpreted from this perspective, and not as an admission of the prior art.

[0003] Amusement parks and other entertainment venues have various features to entertain visitors. For example, an amusement park may include an attraction system such as rides (e.g., roller coasters), theatrical performances, extended reality systems, etc. An attraction system may include a ride vehicle that transports visitors to the amusement park throughout or within the attraction system, such as along a track, to perform various operations to entertain visitors. During the service life of the attraction system, conventional monitoring and / or maintenance procedures may be employed to maintain the integrity of the various structural features of the attraction system. Unfortunately, conventional monitoring and / or maintenance procedures are expensive and time-consuming. Therefore, it is now recognized that it is desirable to improve the monitoring and maintenance of attraction systems. Summary of the invention

[0004] An overview of certain embodiments disclosed herein is explained below. It should be understood that these aspects are presented only to provide the reader with a brief overview of these specific embodiments, and these aspects are not intended to limit the scope of the present disclosure. In fact, the present disclosure may cover various aspects that may not be explained below.

[0005] In one embodiment, an attraction system includes a track, a support vehicle having a wheel assembly configured to adjustably engage the track, and a sensor configured to acquire sensor data indicative of a characteristic of the attraction system. Additionally, the attraction system includes a vehicle controller configured to control the support vehicle to traverse the track via the wheel assembly, receive sensor data indicative of a characteristic of the attraction system from the sensor, and perform an action based on the sensor data.

[0006] In one embodiment, the support vehicle includes: a robotic leg assembly coupled to a wheel assembly, wherein the wheel assembly is configured to roll on a track of an attraction system; a robotic arm configured to receive an additional component of the support vehicle; and a modular payload platform coupled to the robotic arm. In addition, the support vehicle includes a vehicle controller configured to control the robotic leg assembly based on the size of the track to engage the wheel assembly with the track, control the robotic arm to move the additional component relative to the modular payload platform, and control the support vehicle to traverse the track.

[0007] In one embodiment, a method includes adjusting a robotic leg assembly of an autonomous supporting vehicle, a wheel assembly of the autonomous supporting vehicle, or both based on a size of a track, traversing the track via the autonomous supporting vehicle, receiving sensor data via sensors of the autonomous supporting vehicle, and controlling a robotic arm to perform a maintenance operation based on the sensor data. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] These and other features, aspects and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings, in which like characters refer to like parts throughout the several views, and in which:

[0009] Figure 1 is a block diagram of a traverser system including a supporting vehicle and an attraction system according to one aspect of the present disclosure;

[0010] Figure 2 According to one aspect of the present disclosure Figure 1 A schematic front view of an embodiment of a support carrier;

[0011] Figure 3 According to one aspect of the present disclosure Figure 1 A schematic top view of an embodiment of a support carrier;

[0012] Figure 4 According to one aspect of the present disclosure Figure 1 A schematic side view of an embodiment of a support vehicle including a robotic arm;

[0013] Figure 5 is placed in (e.g., Figure 1 The track rails (trackrail) of the attraction system (for example, Figure 1 A schematic side view of an embodiment of a wheel assembly of a supporting vehicle;

[0014] Figure 6is positioned on a flat surface according to one aspect of the present disclosure Figure 5 A schematic diagram of an embodiment of a wheel assembly; and

[0015] Figure 7 According to one aspect of the present disclosure, for example Figure 1 A flow chart of an embodiment of a process for supporting a vehicle traversing a track. DETAILED DESCRIPTION

[0016] One or more specific embodiments will be described below. In order to provide a concise description of these embodiments, not all features of the actual implementation are described in the specification. It should be recognized 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 the developer's specific goals, such as complying with system-related and business-related constraints, which can vary from one implementation to another. In addition, it should be recognized that such development work may be complex and time-consuming, but will still be a routine task of design, fabrication, and manufacturing for a person of ordinary skill who benefits from the present disclosure.

[0017] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" mean that there are one or more of the elements. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Additionally, it should be understood that references to "one embodiment" or "an embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also incorporate the recited features.

[0018] The present disclosure relates to an attraction system for an amusement park or theme park. The attraction system may include roller coasters, theatrical performances, interactive experiences, etc. For example, the attraction system may include a ride vehicle configured to receive visitors of the attraction system. During operation of the attraction system, the ride vehicle may move along a track (e.g., a rail track) to impart a sense of motion (e.g., gravity, inertial force, posture adjustment) to the visitor, thereby providing entertainment. Additionally or alternatively, the attraction system may include various performance effects, and the ride vehicle may carry visitors to different locations of the attraction system to experience different performance effects.

[0019] According to the present disclosure, it is desirable to perform reality capture on an attraction system and / or to perform inspection and maintenance procedures on the attraction system. For example, reality capture may refer to digitally constructing a virtual representation of an attraction system, such as a three-dimensional virtual representation, based on sensor data, such as imaging data captured by a camera. For example, reality capture of an attraction system from a track enables visitors, inspectors, maintenance personnel, and others to view various show effects without riding the attraction system, which can help create an increasingly interesting ride experience. In addition, it is desirable to perform inspections and / or maintenance on the track and attraction system. For example, inspection and maintenance of the track may help maintain the track in good working condition, reduce vibrations of the track when it is traversed by a ride vehicle, and increase the service life of the attraction system. However, existing methods for performing inspections, maintenance, and / or reality capture on the track and its surroundings (e.g., portions of the attraction system surrounding the track) are expensive, inefficient, time-consuming, complex, and / or difficult.

[0020] Therefore, it is now recognized that, relative to traditional methods, improving the reality capture and / or inspection and maintenance operations of the attraction system can reduce costs and improve the effective operation of the attraction system. In addition, for example, being able to efficiently capture the reality of the attraction system from the track can improve the consistency of the features of entertainment provided to the visitors experiencing the attraction system. Therefore, embodiments of the present disclosure relate to a support vehicle that is designed to autonomously traverse the track of the attraction system and perform reality capture, inspection and / or maintenance operations from the track. The support vehicle may include a modular payload platform that may include various sensors and tools. For example, the payload platform of the support vehicle may have a light detection and ranging (LIDAR) sensor and / or a camera system, along with other possible features, for performing reality capture or inspection operations. Depending on the operations that the support vehicle is assigned to perform, various sensors and tools may be added to or removed from the modular payload platform, and will be described in detail with reference to the accompanying drawings.

[0021] The support vehicle can traverse the track at a range of different speeds and can stop or otherwise slow down on the track (e.g., to perform maintenance operations that may take time, improve data capture of various parts of the attraction system, etc.). The support vehicle can be configured to accommodate a variety of different track sizes and systems so that it can be used to traverse tracks of different attraction systems. In addition, the support vehicle can include a set of legs, each of which has a wheel assembly that can be adjusted to the periphery of a portion of the track (e.g., rails, guides). The wheel assembly can include a gripper that can adjust the friction between the wheels of the wheel assembly and the track to control the speed of the support vehicle and / or prevent the support vehicle from sliding off the track. In addition, the support vehicle can include a robotic arm that can include any of the sensors or maintenance tools described above and / or additional sensors and maintenance tools for inspecting and / or maintaining the track, the track support structure, or other components of the amusement attraction system (e.g., show effects).

[0022] Considering the foregoing, Figure 1 1 is a block diagram of a movable platform system 10 including a support vehicle 22 and an attraction system 12. The attraction system 12 (e.g., a roller coaster, an amusement ride, an interactive show, an immersive experience, etc.) may include a track 14 and a controller 16 and may be operable to entertain one or more visitors. As discussed, the track 14 (e.g., a ride track, a roller coaster track, a rail, a guide rail) may support a ride vehicle 17 that carries passengers (e.g., visitors to an amusement park) through the attraction system 12. It should be noted that the ride vehicle 17 may be detached from or attached to the support vehicle 22. During the entertainment operation of the attraction system, the controller 16 may output instructions to adjust the path of the track 14 (e.g., if the track 14 has two ride paths, the controller 16 may guide the ride vehicle 17 to one of the paths), drive the ride vehicle 17 to move along the track 14, and / or enable performance effects to entertain visitors. The controller 16 may include a memory 18 and a processor 20. The memory 18 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, a solid-state drive, or any other non-transitory computer-readable medium containing instructions. The processor 20 is operable to execute such instructions. For example, the processor 20 may include one or more application-specific integrated circuits (ASICs), one or more field-programmable gate arrays (FPGAs), one or more general-purpose processors, or any combination thereof. It should be noted that the controller 16, the memory 18, and the processor 20 may each represent a plurality of such features that can operate together or separately. For example, the controller 16 may represent one or more controllers, the memory 18 may represent one or more memories, and the processor 20 may represent one or more processors.

[0023] The support vehicle 22 of the movable platform system 10 may be configured to engage and traverse the track 14 of the attraction system 12 and perform reality capture, inspection, and / or maintenance operations on the attraction system 12. The support vehicle 22 may include sensors 24 that enable the support vehicle 22 to perform reality capture, inspection, and / or maintenance operations. The sensors 24 may include cameras and / or LIDAR sensors that may capture views of the attraction system 12 from the perspective of passengers within the ride vehicle 17 or from other perspectives. The captured data may then be analyzed (e.g., onboard the support vehicle 22 or externally) to construct a comprehensive three-dimensional view (e.g., via photogrammetry) of the attraction system 12 (e.g., as seen by passengers), which may be used to improve the attraction system 12. For example, data collected from the sensors 24 may indicate that a particular show effect of the attraction system 12 is not clearly visible to passengers in the ride vehicle 17 because the view is blocked by a portion of the track 14 or because the show effect is not positioned within the passenger's direct line of sight. In such cases, the location of the show effects and / or the path of the track 14 may be adjusted to make the show elements more visible to the passengers.

[0024] In one embodiment, the sensor 24 may include a radio frequency identification (RFID) detector, which may allow the support vehicle 22 to perform a track inspection. For example, if the track 14 is in good working order, the track 14 (or a componentry disposed on or near the track 14) may be configured to transmit certain signals (e.g., RFID signals). For example, an RFID antenna may be stimulated to transmit a signal by a feature of the support vehicle 22 (e.g., a transmitter of the sensor 24). However, if at least a portion of the track 14 (or a componentry disposed on or near the track 14) is misconfigured (e.g., due to a damaged part, a loose bolt), the signal described above may be blocked (e.g., a damaged RFID antenna may not be stimulated to transmit a signal). When the support vehicle 22 traverses the track 14, the sensor 24 (e.g., an RFID detector) may receive such a signal. If the signal is not received, a detailed inspection of the portion of the track 14 where the signal was not received may be triggered. In addition, a notification may be sent to the controller 16 indicating that the attraction system 12 may not be suitable for entertainment operations or that maintenance may be due now or in the near future. It will be appreciated that additional types of sensors 24 not mentioned herein may be incorporated onboard the support vehicle 22 (e.g., temperature sensors, Hall effect sensors, proximity sensors, light sensors, ultrasonic sensors, etc.). Additionally, the sensors 24 may include an RFID reader and / or RFID recorder that excites an RFID antenna or tag.

[0025] The support vehicle 22 may also include tools 26 for maintaining the track 14. In one embodiment, the tools 26 may include a robotic arm (illustrated in a later figure) that can perform maintenance of the track 14 and / or portions of the attraction system 12 surrounding the track 14. For example, in addition to an actuator (e.g., an electronic automatic actuator) for actuating the screwdriver or wrench, the robotic arm may include a screwdriver or wrench for tightening screws or bolts. In another example, the robotic arm may include a camera for detailed inspection of specific portions of the track 14 and / or specific portions of the attraction system 12. In one embodiment, data feedback from the camera may be used to control the robotic arm. It can be appreciated that the robotic arm can reach portions of the track 14 and / or portions of the attraction system 12 that may be difficult to reach by other means.

[0026] The support vehicle 22 may include an actuator 28 that enables the legs of the vehicle to move, adjust the configuration, and clamp the track 14 via a pair of clamps. For example, the actuator 28 enables the legs of the support vehicle 22 to adjust the configuration to accommodate various track sizes (e.g., adjust to accommodate track width, track rail diameter, number of track rails). In this way, the support vehicle 22 can be configured to move along multiple tracks corresponding to multiple attraction systems. In addition, the actuator 28 can loosen or tighten the clamps attached to the wheels, thereby increasing or decreasing the friction between the wheels of the support vehicle 22 and the rails of the track 14, and thereby controlling the speed of the support vehicle 22. In one embodiment, the actuator 28 can move the mechanical arm of the support vehicle 22. For example, the actuator 28 can extend, bend, and reach the portion of the track 14 and the attraction system 12 that needs maintenance.

[0027] In one embodiment, the support vehicle 22 may include one or more motors 29 (e.g., electric motors) that enable translational movement of the support vehicle 22 (e.g., along the track 14). For example, the motor 29 may drive the wheels of the support vehicle 22 to rotate. In particular, the one or more motors 29 may drive one or more wheels via a belt or chain. Additionally or alternatively, the motor 29 may be a hub-mounted motor (e.g., an in-wheel motor) that drives the wheel through direct contact. In additional or alternative embodiments, the motor 29 may perform a function similar to the actuator 28 that drives the movement (e.g., bending, extension) of the mechanical legs and arms of the support vehicle 22.

[0028] The support vehicle 22 may be powered by a power source 30, such as from a source of stored power (e.g., a battery), harvested power (e.g., solar power, power generated via kinetic energy, wind power), and / or any other power source that is integrated with or part of (e.g., enclosed within) the support vehicle 22. The power source 30 enables operation of various components of the support vehicle 22, such as enabling operation of the actuators 28 and the motors 29. Indeed, using power provided by the power source 30, the support vehicle 22 is able to perform reality capture, inspection, and maintenance operations without receiving power from an external power source or a power source that is separate (e.g., uncoupled) from the support vehicle 22. In additional or alternative embodiments, the support vehicle 22 may be configured to receive power from an external power source (such as grid power, a generator, an external battery, etc.) in order to perform reality capture, inspection, and / or maintenance operations.

[0029] In one embodiment, the support vehicle 22 can autonomously perform reality capture, inspection, and / or maintenance operations, operating via instructions from a vehicle controller 32 onboard the support vehicle 22. The vehicle controller 32 (e.g., one or more automation controllers, programmable controllers, electronic controllers) of the support vehicle 22 can be communicatively coupled to the sensors 24, actuators 28, motors 29, power sources 30, communication circuits 38, and tools 26 of the support vehicle 22. The vehicle controller 32 can include a memory 34 and a processor 36. The memory 34 can 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, a solid-state drive, or any other non-transitory computer-readable medium containing instructions for traversing the track 14, performing reality capture, inspection, and / or maintenance operations, etc. The processor 36 is operable to execute such instructions. For example, the processor 36 can include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays, or a processor 36. (FPGA), one or more general purpose processors, or any combination thereof. In additional or alternative embodiments, the support vehicle 22 may be remotely controlled to perform reality capture, inspection, and maintenance operations, operating via instructions received from an external controller via the communication circuit 38. It should be noted that the vehicle controller 32, memory 34, and processor 36 may each represent a plurality of such features that may operate together or separately. For example, the vehicle controller 32 may represent one or more controllers, the memory 34 may represent one or more memories, and the processor 36 may represent one or more processors.

[0030] The communication circuit 38 of the support vehicle 22 may include a receiver, a transmitter, and / or other communication devices to communicate via wired and wireless communication paths. For example, the communication circuit 38 may be used to send the collected reality capture and / or inspection data to an external controller for analysis. In another example, the communication circuit 38 may be used to receive data about current weather conditions (e.g., if the support vehicle 22 is operating outdoors), which may be used to determine whether the support vehicle 22 should stop operating on the track 14 (e.g., due to adverse weather conditions, rainfall). In one embodiment, the communication circuit 38 may be used to send a notification indicating the status of the track 14 to an external controller such as a mobile device. For example, if the support vehicle 22 identifies a problem with the track 14 (e.g., a loose bolt), for example, during an inspection operation, the support vehicle 22 may send a notification to an operator of the attraction system 12 via the communication circuit 38 indicating that the track 14 is not ready for entertainment operations. In one embodiment, the notification may be transmitted from the communication circuit 38 of the support vehicle 22 to the controller 16 of the attraction system 12.

[0031] It should be appreciated that the support vehicle 22 is distinct from the ride vehicle 17. While the ride vehicle 17 may transport passengers and perform entertainment operations, the support vehicle 22 may transport tools 26 and sensors 24, and may perform reality capture, inspection, and / or maintenance operations. The support vehicle 22 may be generally lighter (e.g., weigh less) and smaller than the ride vehicle 17. However, in some embodiments, the support vehicle 22 may be attached to the ride vehicle 17.

[0032] Figure 2 yes Figure 1 Schematic front view of an embodiment of a support vehicle 22. The support vehicle 22 may include a body 42 and one or more legs 44 (hereinafter referred to as "mechanical legs 44"). The body 42 of the support vehicle 22 may include (e.g., hold, accommodate) a vehicle controller 32, a sensor 24, a communication circuit 38, a tool 26, and a power source 30 of the support vehicle 22. In one embodiment, the body 42 may include an input / output port for connecting (e.g., communicatively coupling) the sensor 24 and / or the tool 26 to the support vehicle 22. In addition, the body 42 may include components (e.g., fasteners, magnets, mounting plates) for physically connecting the sensor 24 and / or the tool 26 to the support vehicle 22.

[0033] The mechanical legs 44 supporting the vehicle 22 may be configured to communicate with the vehicle 22 via a wheel assembly 48 (e.g., a three-axis wheel assembly). Figure 1The mechanical legs 44 may be coupled (e.g., mechanically, magnetically) to the track rails 15 (e.g., rails, beams) of the track 14. The mechanical legs 44 may include one or more joints 46 that enable the mechanical legs 44 to bend, allowing the support vehicle 22 to be coupled to track rails 15 of various sizes and configurations and manipulated to various positions for maintenance or realistic capture of various component parts. For example, the support vehicle 22 may receive dimensional data for a particular track 14 (e.g., from an external controller) and adjust the configuration of its mechanical legs 44 to accommodate the size of the track 14 (e.g., track rail diameter, distance between track rails 15). Additionally or alternatively, the support vehicle 22 may determine the size of the track 14 based on sensor data and adjust the configuration of the mechanical legs 44 according to the size. In this case, the configuration of the mechanical legs 44 may remain the same during the operation on the track 14 (e.g., one or more joints 46 are not moved). However, when the support vehicle 22 performs operations on the track 14, the mechanical legs 44 of the support vehicle 22 may also change configuration. For example, the mechanical legs 44 of the support vehicle 22 may be robotically bent and / or extended or retracted to provide a better or different viewing angle to an onboard camera or to ensure stability of the support vehicle 22 as the support vehicle 22 traverses the track 14 .

[0034] The support vehicle 22 may include a wheel assembly 48 (e.g., a three-axis wheel assembly) located at an end portion of each mechanical leg 44. For ease of discussion, the wheel assembly 48 may be described below with reference to a coordinate system (e.g., centered on the track 14) having an axial axis 50 (e.g., an axis along the direction of travel), a lateral axis 52, and / or a circumferential axis 54. In one embodiment, each wheel assembly 48 may include two or more wheels 56 (e.g., three wheels 56) distributed along the circumferential axis 54 and around the track rail 15 so as to contact the track rail 15 from different directions. For example, as shown in FIG. Figure 2 As shown in , one of the wheels 56 of the wheel assembly 48 can contact the track rail 15 from the top, another wheel assembly 48 can contact the track rail 15 from the bottom, and yet another wheel 56 can contact the track rail 15 from the side relative to the position of the support vehicle 22. Such wheel assemblies 48 can allow the support vehicle 22 to traverse the track 14 in various orientations relative to the ground without falling off the track 14.

[0035] Figure 3 yes Figure 1Schematic top view of an embodiment of a support vehicle 22 of FIG. In the illustrated embodiment, the support vehicle 22 includes six mechanical legs 44, three on each side. In general, the support vehicle 22 can have any number of mechanical legs 44. The number of mechanical legs 44 of the support vehicle 22 can depend on the track configuration (e.g., the steepness of the track 14, the twist of the track 14, the radius of the turns and / or loops in the track 14) and the type of operations that the support vehicle 22 can perform. For example, if the track 14 is relatively flat (e.g., horizontal, with consistent gravity), four mechanical legs 44 may be sufficient to keep the support vehicle 22 balanced and stable while traversing the track 14. However, if the track 14 has twists and / or loops, more than four mechanical legs 44 may be necessary to keep the support vehicle 22 stable. Each mechanical leg 44 can be actuated individually to increase the flexibility of the support vehicle 22 relative to the track 14, such as around twists, turns, curves and / or loops formed in the track 14. Furthermore, depending on the tools 26 and / or sensors 24 present onboard the support vehicle 22, more or fewer mechanical legs 44 may be required. For example, if the support vehicle 22 includes a robotic arm, which may be relatively heavy compared to the rest of the support vehicle 22, the support vehicle 22 may include more mechanical legs 44 to support the weight of the robotic arm. In one embodiment, having multiple mechanical legs 44 may allow the support vehicle 22 to traverse the track 14 and / or the ground by stepping via the mechanical legs 44 rather than rolling via the wheels 56. In additional or alternative embodiments, including several mechanical legs 44 may enable the support vehicle 22 to autonomously transition from traversing on the ground to traversing on the track 14 (e.g., from the ground or platform) by robotically stepping onto the track 14.

[0036] Figure 4is a schematic side view of a support vehicle 22 including a robotic arm 58. In one embodiment, the robotic arm 58 can be mounted to a modular payload platform 60, which can additionally hold other tools 26 and / or sensors 24. The modular payload platform 60 can include an input / output port for connecting (e.g., communicatively coupling) the robotic arm 58 and / or the sensor 24 mounted to the robotic arm 58 to the vehicle controller 32. In addition, the modular payload platform can include components (e.g., fasteners, magnets, mounting plates) for physically connecting and fixing the robotic arm 58. The robotic arm 58 can include one or more joints 46 that allow it to bend. The robotic arm 58 can also include a portion that allows it to extend or retract. The actuator 28 and / or motor 29 can drive the movement, bending, and extension or retraction of the robotic arm 58. In additional or alternative embodiments, the robotic arm 58 can be directly coupled to the support vehicle 22 instead of being coupled to the modular payload platform 60. It should be appreciated that the support vehicle 22 may have other types of mechanical components and / or several mechanical arms 58 .

[0037] In one embodiment, the sensor 24 can be mounted to the robot arm 58 for detailed inspection operations. For example, the robot arm 58 can move a camera located at an end portion of the robot arm 58 to a specific area of ​​the track 14 so that the camera can capture a close-up image of the area. This can be advantageous if the track 14 contains small / fine features (e.g., bolts, cracks, peeling coatings). In one embodiment, the camera can capture images of bolts on the structure of the track 14, which are analyzed (e.g., via an artificial intelligence algorithm) to determine if the bolts are loose (e.g., due to torque stripes and / or seal breakage).

[0038] In one embodiment, the robotic arm 58 may include a tool 26 for performing maintenance. For example, the robotic arm 58 may have a socket or torque wrench mounted at an end portion thereof. If the inspection operation determines that a bolt on the track 14 is loose, the robotic arm 58 may tighten the bolt to a desired torque using the socket or wrench. In particular, the robotic arm 58 may include a sensor 24, such as a torque sensor, which is capable of controlling the socket or wrench to impart the desired torque to the bolt. The robotic arm 58 may also include an application tool, such as a brush or a roller, for applying a torque band to a tightened fastener (e.g., a bolt) on the track and / or for reapplying paint, lubricant, protective coating to the track 14. In addition, the robotic arm 58 may include a tool for performing maintenance functions, such as cleaning the track 14 and / or removing debris from the track 14.

[0039] Figure 5 yes Figure 1Schematic diagram of a side view of an embodiment of a wheel assembly 48 supporting a vehicle 22, wherein the wheel assembly 48 is placed on a track rail 15. Figure 5 As shown in FIG. 6 , the clamp 62 can be attached to the wheel 56 at one end (e.g., the distal end) and to the rotating plate 66 at the other end. The clamp 62 moves in / out (e.g., toward or away from) the track rail 15 by rotating about a pivot 67. Moving the clamp 62 in or out enables the wheel assembly 48 to accommodate various diameters of the track rail 15 and / or adjust the friction between the wheel 56 and the track rail 15. For example, if the diameter of the track rail 15 is larger than the diameter shown, the clamp 62 can be moved outward, as shown by arrow 68. However, to increase the friction between the wheel 56 and the track rail 15, the clamp 62 can be moved inward so that the wheel 56 "squeezes" the track rail 15 more tightly. When the support vehicle 22 travels along the track 14, increasing the friction between the wheel 56 and the track rail 15 can prevent the support vehicle 22 from sliding out of the track rail 15. Increasing the friction between the wheels 56 and the track rails 15 may also have the effect of slowing or stopping the support vehicle 22, particularly when the wheels 56 are prevented from rotating. In additional or alternative embodiments, the grippers 62 may be used by the support vehicle 22 to climb the track 14 (e.g., move along the track rails 15 without the wheels 56 rotating). To climb the track 14, the grippers 62 may be tightened to hold one set of mechanical legs 44 of the support vehicle 22 at one location on the track 14 while another set of mechanical legs 44 may be robotically moved (e.g., stepped) to another location on the track 14. Repeating the process of tightening the grippers 62 and stepping with alternating sets of mechanical legs 44 enables the support vehicle 22 to achieve movement along the track 14 without the wheels 56 rotating.

[0040] The wheel assembly 48 can rotate around the track rail 15 (e.g., around the axial axis 50) via the rotation of the rotating plate 66, as shown by arrow 70. This rotation around the track rail 15 can keep the support vehicle 22 on the track rail 15 even when inverted and / or operated from other angles. For example, the track 14 (e.g., a roller coaster track) can have an inverted portion or a vertical loop. In order to prevent the support vehicle 22 from sliding off the track 14 in this case, the wheel assembly 48 can rotate around the track rail 15 to place one or more wheels 56 on top of the track rail 15.

[0041] In addition to enabling the support vehicle 22 to move along the track 14, the wheel assembly 48 can be configured to move the support vehicle 22 on a flat surface (e.g., a relatively flat surface such as the ground), such as Figure 6 as shown in . Figure 6 yes Figure 12 is a schematic diagram of a side view of an embodiment of a wheel assembly 48 supporting a carrier 22, wherein the wheel assembly 48 is positioned on a flat surface. In one embodiment, to enable translational movement of the assembly on the surface as indicated by the arrows, the middle wheel 56A (e.g., a wheel positioned perpendicular to the other two wheels 56) can be lifted by rotating the gripper associated with the middle wheel outward. The wheel assembly 48 can then roll on the other two wheels 56.

[0042] In one embodiment, the support vehicle 22 can be configured to autonomously approach the track 14 by rolling on a flat surface. In particular, the support vehicle 22 can be moved by rolling on the ground (e.g., a paved road) with the wheel assembly 48 in a Figure 6 In the configuration shown in FIG. 1 , the support vehicle 22 travels from its parked position to the track 14. Once the support vehicle 22 reaches the track 14, it can autonomously board the track 14 and traverse the track 14 to perform reality capture, inspection and / or maintenance operations, such as Figure 7 as shown in .

[0043] Figure 7 is a flow chart of a process 80 (or method) of traversing a track 14. It should be noted that the reference numbers for structural features provided below are in Figure 1-6 80 is illustrated in various embodiments of the present invention. The process 80 includes adjusting (block 82) the mechanical legs 44 and wheel assemblies 48 supporting the vehicle 22 according to the size of the track 14 of the attraction system 12. The size of the track 14 may include the diameter of the track rails 15, the number of track rails 15, the distance between the track rails 15, etc. The adjustment may involve mechanical adjustment of the mechanical legs 44 and / or wheel assemblies 48 via the actuator 28 and / or the motor 29. For example, the clamp 62 may be rotated inwardly or outwardly to fully adapt the assembly to the track rails 15. Electronic, pneumatic, or hydraulic adjustment may be used. In addition, the mechanical legs 44 supporting the vehicle 22 may be adjusted according to the distance between the track rails 15 to produce an appropriate distance between the wheel assemblies of different mechanical legs 44. The adjustment of the mechanical legs 44 and wheel assemblies 48 may be performed autonomously based on data input from an external controller specifying the size of the track 14 or based on the size on the track 14 as determined based on sensor data. In one embodiment, the support vehicle 22 may autonomously mount the track 14 by robotically moving the mechanical legs 44 to “step” onto the track 14 (eg, from a platform).

[0044] In addition, the process 80 includes traversing the track 14 (block 84) while receiving sensor data and / or performing maintenance operations. As discussed, the sensor data received by the support vehicle 22 may be collected via various sensors 24 (e.g., cameras, LIDAR sensors, vibration sensors, RFID scanners) onboard the support vehicle 22. Depending on the type of data collection being performed, traversing the track 14 may involve moving at a constant speed, moving and stopping, or moving at a variable speed. For example, the support vehicle 22 may slow down when collecting one type of data (e.g., image data) and speed up when collecting another type of data (e.g., vibration data). In addition, the support vehicle 22 may stop on the track 14 to perform maintenance operations, such as tightening fasteners on the track 14, removing debris from the track 14, or applying a protective coating to the track 14,

[0045] In addition, the process 80 includes generating (block 86) a notification indicating the status of the track 14 based on the sensor data. In one embodiment, the collected sensor data may be analyzed onboard the support vehicle 22 via the vehicle controller 32. For example, a machine learning model may be utilized to identify the presence of debris or misaligned torque bands on the track 14 based on the image data. The notification generated by the support vehicle 22 may include an indication that a problem with the track 14 was identified during inspection (e.g., the presence of debris, loose screws, and excessive vibration). In another example, the notification may indicate that a track maintenance operation has been successfully completed and that the track 14 is suitable for amusement operations. In one embodiment, the notification may trigger a response in the support vehicle 22. For example, a notification indicating that a loose bolt was detected on the track 14 may trigger the support vehicle 22 to perform a maintenance operation to tighten the bolt. In additional or alternative embodiments, certain notifications may be sent to an external controller or device. For example, a notification indicating that track vibration exceeds a certain threshold may be sent along with the relevant sensor data to an operator or service personnel of the attraction system 12 for analysis.

[0046] The present disclosure includes various systems and methods that can achieve various technical advantages over traditional methods. For example, the disclosed embodiments relate to inspection, monitoring and / or maintenance of amusement attractions that are less time-consuming, less expensive, simpler, and easier than traditional methods.

[0047] Although only certain features of the present invention have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It should therefore be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the invention.

[0048] The technology presented and claimed herein is cited and applied to substantial objects and specific examples that arguably improve the practical nature of the art, and is therefore not abstract, intangible, or purely theoretical. In addition, if any claim appended to the end of this specification contains one or more elements designated as "means for (performing) ... (function)" or "steps for (performing) ... (function)", it is intended that such elements be interpreted in accordance with 35 U.S.C. §112(f). However, for any claim containing elements designated in any other manner, it is intended that such elements not be interpreted in accordance with 35 U.S.C. §112(f).

Claims

1. A scenic spot system, comprising: track; a support vehicle having a wheel assembly configured to adjustably engage the track and having a sensor configured to acquire sensor data indicative of a characteristic of the attraction system; as well as A vehicle controller, wherein the vehicle controller is configured as follows: controlling the support vehicle to pass through the track via the wheel assembly; receiving sensor data indicative of a characteristic of the attraction system from the sensor; and Performance of an action is indicated based on the sensor data.

2. The attraction system according to claim 1, wherein: The sensor includes a camera configured to capture an image of the attraction system corresponding to a characteristic of the attraction system.

3. The attraction system according to claim 1, wherein: The support vehicle includes a mechanical leg assembly, and a mechanical leg of the mechanical leg assembly is coupled to the wheel assembly.

4. The attraction system according to claim 3, wherein: The vehicle controller is configured to control a mechanical leg configuration of the mechanical leg assembly such that the mechanical leg configuration corresponds to a track configuration of the track.

5. The attraction system according to claim 4, wherein: The vehicle controller is configured as follows: The track configuration is determined by: determining a size of a first rail of the track, a second rail of the track, or both the first rail of the track and the second rail of the track, or determining a spacing between a first rail and a second rail of the track, or determining a size of a first rail of the track, a second rail of the track, or both the first rail of the track and the second rail of the track, and determining a spacing between the first rail of the track and the second rail of the track; and Based on the size of the first rail of the track, the spacing between the first rail and the second rail of the track, or both the size of the first rail of the track and the spacing between the first rail and the second rail of the track, the mechanical leg configuration of the mechanical leg assembly is controlled so that the wheel assembly approaches or engages the track.

6. The attraction system according to claim 1, wherein: The wheel assembly comprises: wheel; Pivot; and A clamp is configured to rotate about the pivot to move the wheel closer to or further away from the track.

7. The attraction system according to claim 1, wherein: The wheel assembly comprises: a first wheel configured to engage the track at a first circumferential location of the track; and A second wheel is configured to engage the track at a second circumferential position of the track, wherein the first circumferential position is diametrically opposed to the second circumferential position.

8. The attraction system according to claim 1, wherein: The wheel assembly includes a rotating plate configured to rotate the wheel assembly relative to the track.

9. The attraction system according to claim 1, wherein: The sensor includes a light detection and ranging (LIDAR) sensor, a radio frequency identification (RFID) scanner, or a combination thereof.

10. The attraction system according to claim 1, wherein: The support vehicle comprises: a robotic arm configured to operate a tool, wherein the tool comprises at least a socket, a wrench, or an application brush; and An actuator is configured to be controlled by the vehicle controller to drive the movement of the robot arm.

11. The attraction system of claim 1 , comprising a ride vehicle separate from the support vehicle and configured to carry passengers of the attraction system, wherein: The support vehicle includes a first weight, the ride vehicle includes a second weight, and the first weight is less than the second weight.

12. The attraction system according to claim 1, wherein: The supporting vehicle is an autonomous supporting vehicle.

13. A support vehicle, comprising: a mechanical leg assembly coupled to the wheel assembly, wherein the wheel assembly is configured to roll on a track of the attraction system; a robotic arm configured to receive an additional component of the support vehicle; a modular payload platform coupled to the robotic arm; and A vehicle controller, wherein the vehicle controller is configured as follows: controlling the mechanical leg assembly based on a size of the track to cause the wheel assembly to engage the track; controlling the robotic arm to move the additional component relative to the modular payload platform; and / or The autonomous support vehicle is controlled to traverse the track.

14. The support vehicle according to claim 13, wherein: The vehicle controller is configured to control the wheel assembly to switch between a first configuration and a second configuration, wherein the first configuration enables the wheel assembly to roll on the track and the second configuration enables the wheel assembly to roll on a relatively flat surface separated from the track.

15. The support vehicle according to claim 13, wherein: The vehicle controller is configured as follows: receiving image data from a camera; and Based on the image data, the robot arm is controlled via the additional component to perform a maintenance operation on the track.

16. The support vehicle according to claim 15, wherein: The vehicle controller is configured to generate a notification indicating a status of the track based on the image data.

17. The support vehicle of claim 13, the additional components comprising at least a wrench configured to tighten a structural feature of the track, an application tip configured to apply a coating to the track, or a tool configured to remove debris from the track.

18. A track maintenance method, comprising: Based on the size of the track, adjusting a mechanical leg assembly of the autonomous supporting vehicle, a wheel assembly of the autonomous supporting vehicle, or both a mechanical leg assembly of the autonomous supporting vehicle and a wheel assembly of the autonomous supporting vehicle; traversing the track via the autonomous supporting vehicle; receiving sensor data via sensors of the autonomous supporting vehicle; and Based on the sensor data, the robotic arm is controlled to perform a maintenance operation.

19. The method according to claim 18, comprising: generating a notification indicative of a status of the track based on the sensor data; and The notification is sent to an external controller, a mobile device, or both.

20. The method according to claim 18, comprising: traversing a flat surface of an amusement park environment via the autonomous supporting vehicle toward the track; and The track is robotically mounted via the autonomous supporting vehicle.

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