System and method for inspecting tracks in amusement attractions

Abstract

The attraction system includes a track, a support vehicle having a wheel assembly configured to adjustably engage the track and having a sensor configured to obtain a characteristic of the attraction system, and a control assembly configured to control the support vehicle to traverse the track with the wheel assembly and to receive sensor data indicative of the characteristic of the attraction system from the sensor.

Description

[Technical Field]

[0001] (Related Applications) This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 406,126, filed September 13, 2022, entitled "SYSTEMS AND METHODS FOR INSPECTION OF A TRACK OF AN AMUSEMENT ATTRACTION," the entire disclosure of which is incorporated herein by reference for all purposes. (Technical field) TECHNICAL FIELD This application relates to systems and methods for inspecting tracks in amusement attractions. [Background technology]

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

[0003] Amusement parks and other entertainment venues have a variety of features for entertaining guests. For example, an amusement park may include attraction systems such as rides (e.g., roller coasters), theater shows, augmented reality systems, and the like. An attraction system may include rides that transport amusement park guests throughout or within the attraction system, for example, along a track, and perform various operations to entertain the guests. During the lifetime of an attraction system, conventional monitoring and / or maintenance procedures may be used to maintain the integrity of various structural features of the attraction system. Unfortunately, conventional monitoring and / or maintenance procedures may be expensive and excessively time-consuming. Accordingly, it has been recognized that there is currently a desire for improvements in the monitoring and maintenance of attraction systems. Summary of the Invention

[0004] A summary of certain embodiments disclosed herein is provided below. It should be understood that these aspects are presented merely to provide the reader with a brief summary of these particular embodiments, and that these aspects are not intended to limit the scope of the disclosure. Indeed, the disclosure may encompass a variety of aspects that may not be set forth 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 having a sensor configured to acquire sensor data indicative of a characteristic of the attraction system, and a vehicle controller configured to control the support vehicle to traverse the track with 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 comprises a robotic leg assembly coupled to a wheel assembly configured to roll on a track of the 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. The support vehicle further comprises a vehicle controller configured to: control the robotic leg assembly to engage the wheel assembly with the track based on a size of 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, the method includes adjusting a robotic leg assembly of the autonomous support vehicle, a wheel assembly of the autonomous support vehicle, or both, based on dimensions of the track; traversing the track by the autonomous support vehicle; receiving sensor data by a sensor of the autonomous support vehicle; and controlling a robotic arm to perform maintenance work based on the sensor data.

[0008] These and other features, aspects, and advantages of the present invention will be better understood when the following detailed description is read in conjunction with the accompanying drawings, in which like characters represent like parts throughout the drawings. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a block diagram of a traverser system including a support vehicle and an attraction system, according to aspects of the present disclosure.

[0010] [Figure 2] FIG. 2 is a schematic front view of an embodiment of the support vehicle of FIG. 1, according to one aspect of the present disclosure.

[0011] [Figure 3] 2 is a schematic top view of the embodiment of the support vehicle of FIG. 1 according to one aspect of the present disclosure.

[0012] [Figure 4] FIG. 2 is a schematic side view of an embodiment of the support vehicle of FIG. 1 including a robotic arm, according to one aspect of the present disclosure.

[0013] [Figure 5] 2 is a schematic side view of an embodiment of a wheel assembly (e.g., of the support vehicle of FIG. 1 ) disposed on a track rail (e.g., of the attraction system of FIG. 1 ) according to one aspect of the present disclosure.

[0014] [Figure 6] FIG. 6 is a schematic diagram of the embodiment of the wheel assembly of FIG. 5 positioned on a flat surface, according to one aspect of the present disclosure.

[0015] [Figure 7] 2 is a flow diagram of an embodiment of a process for traversing a track, for example, by the support vehicle of FIG. 1 , according to aspects of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0016] One or more specific embodiments are described below. In order to provide a concise description of these embodiments, not all features of an actual implementation are described herein. It should be recognized that, as with any industrial design or engineering project, the development of any such actual implementation will require numerous implementation-specific decisions to be made to achieve the developers' particular goals, including compliance with system-related and business-related constraints that may vary from implementation to implementation. It should also be recognized that such development efforts may be complex and time-consuming, but will nevertheless represent a routine undertaking of design, fabrication, and manufacture for those skilled in the art having the benefit of this disclosure.

[0017] When describing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean that there are one or more of the element. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Additionally, references to "one embodiment" or "one 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 is directed to an attraction system for an amusement park or theme park. The attraction system may include a roller coaster, a theater show, an interactive experience, etc. For example, the attraction system may include a ride configured to accommodate guests of the attraction system. During operation of the attraction system, the ride may move along a track (e.g., a rail track) and provide entertainment by imparting kinesthetic sensations (e.g., gravity, inertial force, attitude adjustment) to the guests. Additionally or alternatively, the attraction system may include various show effects, and the ride may transport guests to different locations in the attraction system to experience different show effects.

[0019] In accordance with the present disclosure, it may be desirable to perform reality capture of an attraction system and / or inspection and maintenance procedures for the attraction system. Reality capture may refer to the digital construction of a virtual representation of the attraction system, such as a three-dimensional virtual representation, based on sensor data, such as image data captured by a camera. For example, reality capture of an attraction system from a track can allow guests, inspectors, maintenance personnel, and the like to view various show effects without riding the attraction system, which can help create an increasingly entertaining ride experience. Additionally, it may be desirable to perform inspection and / or maintenance of the track and attraction system. For example, track inspection and maintenance may help keep the track in good working condition, reduce track vibrations as rides traverse it, and extend the service life of the attraction system. However, existing approaches for performing inspection, maintenance, and / or reality capture of a track and its surroundings (e.g., the portion of the attraction system that surrounds the track) are expensive, inefficient, time-consuming, complicated, and / or difficult.

[0020] Accordingly, it is now recognized that improving reality capture and / or inspection and maintenance operations of an attraction system can reduce costs and improve the efficient operation of the attraction system compared to conventional approaches. In addition, enabling efficient reality capture of an attraction system from a track can, for example, improve the consistency of features that provide entertainment to guests experiencing the attraction system. Accordingly, embodiments of the present disclosure are directed to a support vehicle designed to autonomously traverse the track of an attraction system and perform reality capture, inspection, and / or maintenance operations from the track. The support vehicle can include a modular payload platform that can include various sensors and tools. The support vehicle's payload platform can have a light detection and ranging (LIDAR) sensor and / or a camera system, among other possible features, to perform reality capture or inspection operations. For example, depending on the operations the support vehicle is tasked with performing, various sensors and tools can be added to or removed from the modular payload platform, as described in detail with reference to the drawings.

[0021] The support vehicle can traverse the track at a variety of speed ranges and can have the ability to stop or otherwise slow down on the track (e.g., to perform maintenance tasks that may be time-consuming, to improve data collection for various portions of the attraction system, etc.). The support vehicle can be configurable to accommodate a variety of different track sizes and systems so that it can be used to traverse the tracks of various attraction systems. Furthermore, the support vehicle can include a set of legs, each having a wheel assembly that is adjustable relative to the circumference of a portion of the track (e.g., rails, guides). The wheel assemblies can include grippers that adjust 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. Additionally, 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 inspection and / or maintenance of the track, the track support structure, or other components of the amusement attraction system (e.g., show effects).

[0022] With the foregoing in mind, FIG. 1 is a block diagram of a traverser 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.) can include a track 14 and a controller 16 and be operable to entertain one or more guests. As noted above, the track 14 (e.g., a ride track, a roller coaster track, a rail, a guide) can support vehicles 17 that carry passengers (e.g., amusement park guests) through the attraction system 12. Note that the vehicles 17 can be separate from or attached to the support vehicle 22. During entertainment operation of the attraction system, the controller 16 can output instructions to adjust the path of the track 14 (e.g., if the track 14 has two ride paths, the controller 16 can direct the ride vehicles 17 to one of the paths), move the ride vehicles 17 along the track 14, and / or enable show effects to entertain guests. 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 disk drive, a solid-state drive, or some other non-transitory computer-readable medium containing instructions. The processor 20 may be operable to execute the 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 some combination thereof. It should be noted that the controller 16, the memory 18, and the processor 20 may each represent multiple such functions, which may 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 vehicles 22 of the traverser system 10 can be configured to engage and traverse the track 14 of the attraction system 12 to perform reality capture, inspection, and / or maintenance operations on the attraction system 12. The support vehicles 22 can include sensors 24 that enable the support vehicles 22 to perform reality capture, inspection, and / or maintenance operations. The sensors 24 can include cameras and / or LIDAR sensors that can capture views of the attraction system 12 from the perspective of passengers in the ride 17 or from other perspectives. The captured data can then be analyzed (e.g., by photogrammetry) to construct an extensive, three-dimensional view of the attraction system 12 (e.g., as seen by passengers) (e.g., inside or outside the support vehicles 22), which can 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 on the ride 17 due to the view being blocked by a portion of the track 14 or due to the show effect being positioned in a location that is not in the passengers' direct line of sight. In this case, the position of the show effect and / or the path of the track 14 may be adjusted to make the show element more visible to passengers.

[0024] In one embodiment, the sensor 24 may include a radio frequency identification (RFID) detector that enables the support vehicle 22 to perform track inspections. For example, the track 14 (or components disposed on or adjacent to the track 14) may be configured to emit a specific signal (e.g., an RFID signal) when the track 14 is in good working condition. For example, an RFID antenna may be excited by a feature of the support vehicle 22 (e.g., an emitter of the sensor 24) to emit a signal. However, if at least a portion of the track 14 (or components disposed on or adjacent to the track 14) is improperly configured (e.g., due to a damaged part, loose bolt), the aforementioned signal may be blocked (e.g., a damaged RFID antenna may not be able to be excited to transmit a signal). When the support vehicle 22 is traversing the track 14, the sensor 24 (e.g., an RFID detector) may receive such a signal. If no signal is received, a thorough inspection of the portion of the track 14 where the signal is not received may be triggered. Additionally, the controller 16 may receive notifications indicating that the attraction system 12 may not be suitable for entertainment operation or may require current or impending maintenance. It should be understood that additional types of sensors 24 not described herein (e.g., temperature sensors, Hall effect sensors, proximity sensors, light sensors, ultrasonic sensors, etc.) may be installed on the support vehicle 22. Additionally, the sensors 24 may include RFID readers and / or RFID writers that excite RFID antennas or tags.

[0025] The support vehicle 22 may also include tools 26 for maintenance of the track 14. In one embodiment, the tools 26 may include a robotic arm capable of performing maintenance on the track 14 and / or portions of the attraction system 12 surrounding the track 14 (shown in later figures). For example, the robotic arm may include a driver or wrench for tightening a screw or bolt, in addition to an actuator (e.g., an electronically automated actuator) used to actuate the driver or wrench. In another example, the robotic arm may include a camera for closer inspection of particular portions of the track 14 and / or particular portions of the attraction system 12. In one embodiment, data feedback from the camera may be used to control the robotic arm. It should be appreciated that the robotic arm may be able to reach portions of the track 14 and / or portions of the attraction system 12 that are difficult to reach by other means.

[0026] The support vehicle 22 may include actuators 28 that enable the vehicle's legs to move, adjust their configuration, and grip the track 14 via a pair of grippers. For example, the actuators 28 may enable the legs of the support vehicle 22 to adjust their configuration to accommodate various track dimensions (e.g., track width, track rail diameter, number of track rails). In this manner, the support vehicle 22 may be configured to move along multiple tracks corresponding to multiple attraction systems. Additionally, the actuators 28 may enable the grippers attached to the wheels to loosen or tighten, thereby increasing or decreasing friction between the wheels of the support vehicle 22 and the rails of the track 14, thereby controlling the speed of the support vehicle 22. In one embodiment, the actuators 28 may enable movement of the robotic arm of the support vehicle 22. For example, the actuators 28 may enable the robotic arm to extend, bend, or reach portions of the track 14 and attraction system 12 that require maintenance.

[0027] In one embodiment, the support vehicle 22 may include one or more motors 29 (e.g., electric motors) that can enable translational movement of the support vehicle 22 (e.g., along the track 14). For example, the motors 29 may rotationally drive wheels of the support vehicle 22. In particular, the one or more motors 29 may drive one or more wheels via a belt or chain. Additionally or alternatively, the motors 29 may be hub-mounted motors (e.g., in-wheel motors) that directly contact and drive the wheels. In additional or alternative embodiments, the motors 29 may perform a function similar to the actuators 28 that cause movement (e.g., bending, extending) of the robotic legs and arms of the support vehicle 22.

[0028] Support vehicle 22 may be powered by a power source 30, such as a stored power source (e.g., a battery), harvested power (e.g., power generated via solar energy, kinetic energy, wind energy), and / or some other power source integral to or part of (e.g., internal to) support vehicle 22. Power source 30 may enable operation of various components of support vehicle 22, such as enabling operation of actuators 28 and motors 29. Indeed, using power provided by power source 30, support vehicle 22 may perform reality capture, inspection, and maintenance operations without receiving power from an external power source or a power source separate from (e.g., not coupled to) support vehicle 22. In additional or alternative embodiments, support vehicle 22 may be configured to receive power from an external power source, such as grid power, a generator, or an external battery, to perform reality capture, inspection, and / or maintenance operations.

[0029] In one embodiment, support vehicle 22 may operate under instructions from a vehicle controller 32 onboard support vehicle 22 to autonomously perform reality capture, inspection, and / or maintenance operations. Vehicle controller 32 (e.g., one or more automation controllers, programmable controllers, electronic controllers) of support vehicle 22 may be communicatively connected to sensors 24, actuators 28, motors 29, power sources 30, communication circuitry 38, and tools 26 of support vehicle 22. Vehicle controller 32 may include memory 34 and processor 36. Memory 34 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 disk drive, a solid-state drive, or some other non-transitory computer-readable medium containing instructions for traversing track 14, performing reality capture, inspection, and / or maintenance operations, etc. Processor 36 may be operable to execute such instructions. For example, processor 36 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 some combination thereof. In additional or alternative embodiments, support vehicle 22 may be remotely controlled to perform reality capture, inspection, and maintenance operations, operating via instructions received from an external controller via communications circuitry 38. It should be noted that vehicle controller 32, memory 34, and processor 36 may each represent multiple such functions, which may operate together or separately. For example, vehicle controller 32 may represent one or more controllers, memory 34 may represent one or more memories, and processor 36 may represent one or more processors.

[0030] The communications circuitry 38 of the support vehicle 22 may include receivers, transmitters, and / or other communications devices for communicating via wired and wireless communications paths. For example, the communications circuitry 38 may be utilized to transmit collected reality capture and / or inspection data to an external controller for analysis. In another example, the communications circuitry 38 may be utilized to receive data regarding current weather conditions (e.g., if the support vehicle 22 is operating outdoors), which may be utilized to determine whether the support vehicle 22 needs to cease operation on the track 14 (e.g., due to unfavorable weather conditions, rain). In one embodiment, the communications circuitry 38 may be utilized to transmit notifications indicating the status of the track 14 to an external controller, such as a mobile device. For example, if the support vehicle 22 identifies an issue with the track 14 (e.g., a loose bolt) during an inspection operation, the support vehicle 22 may transmit a notification via the communications circuitry 38 to the operator of the attraction system 12 indicating that the track 14 is not ready for entertainment operation. In one embodiment, the notification may be transmitted from the communications circuitry 38 of the support vehicle 22 to the controller 16 of the attraction system 12.

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

[0032] 2 is a schematic front view of an embodiment of the support vehicle 22 of FIG. 1. The support vehicle 22 may include a body 42 and one or more legs 44 (hereinafter referred to as "robotic legs 44"). The body 42 of the support vehicle 22 may include (e.g., hold, house) the vehicle controller 32, sensors 24, communication circuitry 38, tools 26, and power source 30 of the support vehicle 22. In one embodiment, the body 42 may include input / output ports for connecting (e.g., communicatively connecting) the sensors 24 and / or tools 26 to the support vehicle 22. Additionally, the body 42 may include components (e.g., fasteners, magnets, mounting plates) for physically coupling the sensors 24 and / or tools 26 to the support vehicle 22.

[0033] The robotic legs 44 of the support vehicle 22 can be configured to couple (e.g., mechanically, magnetically) with the track rails 15 (e.g., guides, beams) of the track 14 of FIG. 1 via wheel assemblies 48 (e.g., triaxial wheel assemblies). The robotic legs 44 can include one or more joints 46 that allow the robotic legs 44 to flex, thereby enabling the support vehicle 22 to couple with track rails 15 of various sizes and configurations and navigate to various positions for maintenance or reality capture of various components. For example, the support vehicle 22 can receive dimensional data for a particular track 14 (e.g., from an external controller) and adjust the configuration of the robotic legs 44 to match the dimensions of the track 14 (e.g., track rail diameter, distance between track rails 15). Additionally or alternatively, the support vehicle 22 can determine the dimensions of the track 14 based on sensor data and adjust the configuration of the robotic legs 44 according to the dimensions. In such a scenario, the configuration of the robotic legs 44 can remain the same during operation on the track 14 (e.g., no movement of one or more joints 46). However, it is also possible for the robotic legs 44 of the support vehicle 22 to change configuration while the support vehicle 22 is performing operations on the track 14. For example, the robotic legs 44 of the support vehicle 22 may be robotically bent and / or extended or retracted to provide a better or different view for the on-board camera or to ensure the stability of the support vehicle 22 while it is traversing the track 14.

[0034] The support vehicle 22 may include a wheel assembly 48 (e.g., a triaxial wheel assembly) at the distal end of each of the robot legs 44. For ease of explanation, the wheel assemblies 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 track rail 15 along the circumferential axis 54 so as to contact the track rail 15 from different directions. For example, as shown in FIG. 2 , one of the wheels 56 of a wheel assembly 48 may contact the track rail 15 from above, another wheel assembly 48 may contact the track rail 15 from below, and yet another wheel 56 may contact the track rail 15 from a side relative to the position of the support vehicle 22. Such wheel assemblies 48 may allow the support vehicle 22 to traverse the track 14 at various orientations relative to the ground without falling off the track 14.

[0035] FIG. 3 is a schematic top view of one embodiment of the support vehicle 22 of FIG. 1. In the illustrated embodiment, the support vehicle 22 includes six robotic legs 44, three on each side. In general, the support vehicle 22 can have any number of robotic legs 44. The number of robotic legs 44 on the support vehicle 22 may depend on the configuration of the track 14 (e.g., the steepness of the track 14, the twists in the track 14, the radius of any turns and / or loops in the track 14) and the types of movements the support vehicle 22 can perform. For example, if the track 14 is relatively flat (e.g., level, with uniform gravity), four robotic legs 44 may be sufficient to keep the support vehicle 22 balanced and stable as it traverses the track 14. However, if the track 14 has twists and / or loops, five or more robotic legs 44 may be required to keep the support vehicle 22 stable. Each of the robotic legs 44 may be independently actuable to improve 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. Additionally, more or fewer robotic legs 44 may be required depending on the tools 26 and / or sensors 24 carried by the support vehicle 22. For example, if the support vehicle 22 includes a robotic arm that may be relatively heavy compared to other portions of the support vehicle 22, the support vehicle 22 may include more robotic legs 44 to support the weight of the robotic arm. In one embodiment, having multiple robotic legs 44 may enable the support vehicle 22 to traverse the track 14 and / or ground by stepping on the robotic legs 44 rather than rolling on wheels 56. In additional or alternative embodiments, including multiple robotic legs 44 may enable the support vehicle 22 to autonomously transition from traversing the ground to traversing the track 14 by robotically boarding onto the track 14 (e.g., from the ground or a platform).

[0036] FIG. 4 is a schematic side view of the 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 input / output ports for connecting (e.g., communicatively connecting) the robotic arm 58 and / or sensors 24 mounted on the robotic arm 58 to the vehicle controller 32. Additionally, the modular payload platform can include components (e.g., fasteners, magnets, mounting plates) for physically coupling and securing 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 portions that allow it to extend or retract. Actuators 28 and / or motors 29 can cause the movement, bending, extension, or retraction of the robotic arm 58. In additional or alternative embodiments, the robotic arm 58 may be coupled directly to the support vehicle 22 rather than to the modular payload platform 60. It should be understood that the support vehicle 22 can have other types of robotic components and / or multiple robotic arms 58.

[0037] In one embodiment, the sensor 24 can be attached to a robotic arm 58 for a thorough inspection process. For example, the robotic arm 58 can move a camera located at the distal end of the robotic arm 58 to a particular area of ​​the track 14 so that the camera can capture a close-up image of that area. This can be advantageous when the track 14 contains small / fine features (e.g., bolts, cracks, missing coatings). In one embodiment, the camera can capture images of bolts on the structure of the track 14, which can be analyzed (e.g., by an artificial intelligence algorithm) to determine if the bolt is loose (e.g., due to a broken torque stripe and / or seal).

[0038] In one embodiment, the robotic arm 58 can include tools 26 for performing maintenance. For example, the robotic arm 58 can have a socket or torque wrench attached to its distal end. If the inspection process determines that a bolt is loose on the track 14, the robotic arm 58 can use the socket or wrench to tighten the bolt to a desired torque. In particular, the robotic arm 58 can include sensors 24, such as a torque sensor, that enable control of the socket or wrench to apply the desired torque to the bolt. The robotic arm 58 can also include application tools, such as a brush or roller, for applying torque stripes to tightened fasteners (e.g., bolts) on the track and / or for reapplying paint, lubricant, or protective coatings to the track 14. Additionally, the robotic arm 58 can include tools for performing maintenance functions, such as cleaning the track 14 and / or removing debris from the track 14.

[0039] FIG. 5 is a schematic diagram of a side view of one embodiment of the wheel assembly 48 of the support vehicle 22 of FIG. 1 , where the wheel assembly 48 is positioned on the track rail 15. As shown in FIG. 5 , the gripper 62 can be attached to the wheel 56 at one end (e.g., the distal end) and to a rotating plate 66 at the other end. The gripper 62 moves in and out of (e.g., toward or away from) the track rail 15 by rotating about a pivot axis 67. Moving the gripper 62 in and out allows the wheel assembly 48 to accommodate track rails 15 of various diameters and / or to 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 that shown, the gripper 62 can be moved outward, as indicated by arrow 68. However, to increase the friction between the wheel 56 and the track rail 15, the gripper 62 can be moved inward so that the wheel 56 “squeezes” the track rail 15 more tightly. Increasing the friction between the wheels 56 and the track rails 15 as the support vehicle 22 moves along the track 14 can prevent the support vehicle 22 from sliding off the track rails 15. Increasing the friction between the wheels 56 and the track rails 15 can also have the effect of slowing or stopping the support vehicle 22, especially if the wheels 56 are prevented from rotating. In additional or alternative embodiments, the grippers 62 can be used to allow the support vehicle 22 to climb the track 14 (e.g., the wheels 56 move along the track rails 15 without rotating). To climb the track 14, the grippers 62 can be tightened to hold one set of the robotic legs 44 of the support vehicle 22 in one position on the track 14, while another set of the robotic legs 44 is robotically moved (e.g., stepped) to another position on the track 14. Repeating the process of tightening the grippers 62 and stepping with alternating sets of the robotic legs 44 can allow the support vehicle 22 to move along the track 14 without the wheels 56 rotating.

[0040] The wheel assemblies 48 can rotate about the track rail 15 (e.g., about the axial axis 50) by rotation of the rotating plates 66, as indicated by arrow 70. Such rotation about the track rail 15 allows the support vehicle 22 to remain on the track rail 15 even when operating upside down and / or from other perspectives. For example, the track 14 (e.g., a roller coaster track) may have an inverted portion or a vertical loop. To prevent the support vehicle 22 from sliding off the track 14 in such a scenario, the wheel assemblies 48 can rotate relative to the track rail 15 to position one or more wheels 56 above the track rail 15.

[0041] In addition to allowing the support vehicle 22 to move along the track 14, the wheel assemblies 48 can also be configured to allow the support vehicle 22 to move on a flat surface (e.g., a relatively flat surface such as the ground), as shown in FIG. 6. FIG. 6 is a schematic diagram of a side view of one embodiment of the support vehicle 22 of FIG. 1 with the wheel assemblies 48 positioned on a flat surface. In one embodiment, to allow the assembly to translate across the surface, as indicated by the arrows, the center wheel 56A (e.g., the wheel positioned perpendicular to the other two wheels 56) can be lifted by rotating a gripper associated with the center wheel outward. The wheel assembly 48 can then roll on the other two wheels 56.

[0042] In one embodiment, support vehicle 22 may be configured to autonomously approach track 14 by rolling on a flat surface. Specifically, support vehicle 22 may travel from a parked position to track 14 by rolling on the ground (e.g., a paved road) with wheel assemblies 48 in the configuration shown in FIG. 6. Once support vehicle 22 reaches track 14, it may autonomously mount track 14 and traverse track 14 while performing reality capture, inspection, and / or maintenance tasks, as shown in FIG. 7.

[0043] FIG. 7 is a flow diagram of a process 80 (or method) for traversing the track 14. Note that reference numbers for structural features presented below are shown in the various embodiments of FIGS. 1-6 . The process 80 includes adjusting the robotic legs 44 and wheel assemblies 48 of the support vehicle 22 according to the dimensions of the track 14 of the attraction system 12 (block 82). The dimensions 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 include robotic adjustment of the robotic legs 44 and / or wheel assemblies 48 via the actuators 28 and / or motors 29. For example, the grippers 62 may rotate inward or outward so that the assemblies properly fit the track rails 15. Electronic, pneumatic, or hydraulic adjustments may be used. Additionally, the robotic legs 44 of the support vehicle 22 may be adjusted to create an appropriate distance between the wheel assemblies of different robotic legs 44 depending on the distance between the track rails 15. Adjustments of the robotic legs 44 and wheel assemblies 48 can be performed autonomously based on data input from an external controller specifying the dimensions of the track 14, or based on dimensions on the track 14 determined based on sensor data. In one embodiment, the support vehicle 22 can autonomously ride the track 14 by robotically moving the robotic legs 44 to "step" (e.g., from a platform) onto the track 14.

[0044] Additionally, process 80 includes traversing track 14 while receiving sensor data and / or performing maintenance tasks (block 84). As described above, the sensor data received by support vehicle 22 may be collected using various sensors 24 (e.g., cameras, LIDAR sensors, vibration sensors, RFID scanners) onboard support vehicle 22. Traversing track 14 may include moving at a constant speed, moving and stopping, or moving at a variable speed, depending on the type of data collection being performed. For example, 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). Additionally, support vehicle 22 may stop on track 14 to perform maintenance tasks such as tightening fasteners on track 14, removing debris from track 14, or applying a protective coating to track 14.

[0045] Additionally, the process 80 includes generating a notification indicating the status of the track 14 based on the sensor data (block 86). In one embodiment, the collected sensor data can be analyzed on board the support vehicle 22 by the vehicle controller 32. For example, a machine learning model can be utilized to identify the presence of debris on the track 14 or an improperly aligned torque strip based on the image data. The notification generated by the support vehicle 22 may include an indication that an issue with the track 14 was identified during inspection (e.g., presence of debris, loose screws, excessive vibration). In another example, the notification may indicate that track maintenance work was successfully completed and the track 14 is suitable for use in entertainment operations. In one embodiment, the notification may trigger a response from the support vehicle 22. For example, a notification indicating that a loose bolt has been detected on the track 14 may cause the support vehicle 22 to perform maintenance work to tighten the bolt. In additional or alternative embodiments, certain notifications can be sent to an external controller or device. For example, a notification indicating that track vibration has exceeded a predetermined threshold can be sent to an operator or servicer of the attraction system 12 along with associated sensor data for analysis.

[0046] The present disclosure includes various systems and methods that enable various technical advantages over conventional approaches. For example, the disclosed embodiments relate to inspecting, monitoring, and / or maintaining amusement attractions in a manner that is less time-consuming, less expensive, less complex, and less burdensome than conventional approaches.

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

[0048] The technology shown and claimed herein refers to and applies to tangible objects and specific examples of a practical nature that will materially improve the art, and thus are not abstract, intangible, or purely theoretical. Furthermore, if any claim appended at the end of this specification contains one or more elements designated as "means for [performing] ... [function]" or "step for [performing] ... [function]," such elements are to be construed pursuant to 35 U.S.C. 112(f). Conversely, for any claim containing elements designated in any other manner, such elements are not to be construed pursuant to 35 U.S.C. 112(f).

Claims

1. An attraction system, Orbit and 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; A vehicle controller; Equipped with The vehicle controller controlling the support vehicle to traverse the track with the wheel assemblies; receiving the sensor data from the sensor indicative of the characteristic of the attraction system; instructing the execution of an action based on the sensor data; The attraction system is structured as follows.

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

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

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

5. The vehicle controller determining the 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 the first rail and the second rail of the track; or determining the track configuration by determining the size of the first rail of the track, the 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; controlling the robot leg configuration of the robot leg assembly so that the wheel assembly approaches or engages the track 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 attraction system according to claim 4, wherein the attraction system is configured as follows.

6. The wheel assembly is Wheels and A pivot axis; a gripper configured to rotate about the pivot axis to move the wheel toward or away from the track; The attraction system of claim 1 , comprising:

7. The wheel assembly is a first wheel configured to engage the track at a first circumferential position of the track; a second wheel configured to engage the track at a second circumferential position of the track; and wherein the first circumferential position is diametrically opposite the second circumferential position. The attraction system according to claim 1 .

8. the wheel assembly including a rotation plate configured to rotate the wheel assembly relative to the track; The attraction system according to claim 1 .

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

10. The support vehicle is a robotic arm configured to manipulate a tool including at least a socket, a wrench, or an application brush; an actuator configured to be controlled by the vehicle controller to cause movement of the robotic arm; The attraction system of claim 1 , comprising:

11. a ride vehicle separate from the support vehicle and configured to carry passengers of the attraction system, the support vehicle having a first weight and the ride vehicle having a second weight, the first weight being less than the second weight; The attraction system according to claim 1 .

12. The support vehicle is an autonomous support vehicle. The attraction system according to claim 1 .

13. A support vehicle, a robotic leg assembly coupled to a wheel assembly configured to roll on a track of an attraction system; a robotic arm configured to receive an additional component of the support vehicle; a modular payload platform coupled to the robotic arm; A vehicle controller; Equipped with The vehicle controller controlling the robot leg assemblies to engage the wheel assemblies with the tracks based on the size of the tracks; controlling the robotic arm to move the additional component relative to the modular payload platform; and / or controlling the autonomous support vehicle to traverse the trajectory; Support vehicle.

14. the vehicle controller is configured to control the wheel assemblies to switch between a first configuration and a second configuration, the first configuration enabling the wheel assemblies to roll on the track and the second configuration enabling the wheel assemblies to roll on a relatively flat surface other than the track; 14. The support vehicle of claim 13.

15. The vehicle controller Receives image data from the camera, and controlling the robotic arm based on the image data to perform a maintenance operation on the track with the additional component.

14. The support vehicle of claim 13, wherein the support vehicle is configured as follows:

16. the vehicle controller is configured to generate a notification indicative of a condition of the track based on the image data.

16. The support vehicle of claim 15.

17. the additional component includes 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.

14. The support vehicle of claim 13.

18. A track maintenance method, comprising: adjusting a robotic leg assembly of an autonomous support vehicle, a wheel assembly of the autonomous support vehicle, or both the robotic leg assembly of the autonomous support vehicle and the wheel assembly of the autonomous support vehicle based on a dimension of the track; traversing the track with the autonomous support vehicle; receiving sensor data by a sensor of the autonomous support vehicle; Controlling the robot arm to perform maintenance work based on the sensor data; A method comprising:

19. generating a notification indicative of a state of the track based on the sensor data; sending said notification to an external controller, a mobile device, or both; 20. The method of claim 18, comprising:

20. traversing a flat surface of an amusement park environment toward the track with the autonomous support vehicle; robotically riding the track with the autonomous support vehicle; 20. The method of claim 18, comprising:

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