System and method for inspecting amusement park attraction systems

Abstract

An inspection vehicle for an amusement park attraction system includes one or more bogies configured to engage a route of the attraction system, a sensor configured to acquire images of the route, and a controller communicatively coupled to the sensor, wherein the controller is configured to receive data indicative of detected markers, determine a route section on which the inspection vehicle is located based on the detected markers, determine a target image associated with the route section, receive the acquired images from the sensor, and output a control signal in response to determining that a difference between the acquired image received from the sensor and the target image is equal to or greater than a threshold value.

Description

[Background technology]

[0001] This application claims priority to and the benefit of U.S. Provisional Application No. 63 / 444,446, filed February 9, 2023, entitled "SYSTEMS AND METHODS FOR INSPECTING AN AMUSEMENT PARK ATTRACTION SYSTEM," the disclosure of which is incorporated herein by reference in its entirety.

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

[0003] Amusement parks and other entertainment venues have a variety of functions for entertaining guests. For example, an amusement park may include attraction systems such as rides (e.g., roller coasters), theater shows, and augmented reality systems. The attraction systems may include ride vehicles that move within or throughout the attraction system, such as moving along a path or track, to entertain guests during operation. It may be desirable to perform path inspections to determine the condition of the path. For example, path inspections may be performed to ensure the path is in a desired condition to achieve desired performance of the ride vehicles. Summary of the Invention [Means for solving the problem]

[0004] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are merely intended to provide a brief summary of possible forms of the subject matter and are not intended to limit the scope of the claimed subject matter. Indeed, the subject matter may encompass a variety of forms that may be similar to or different from the following embodiments.

[0005] In one embodiment, an inspection vehicle for an amusement park attraction system includes one or more bogies configured to engage a route of the attraction system, a sensor configured to acquire images of the route, and a controller communicatively coupled to the sensor, wherein the controller is configured to receive data indicative of detected markers, determine a route section on which the inspection vehicle is located based on the detected markers, determine a target image associated with the route section, receive the acquired images from the sensor, and output a control signal in response to determining that a difference between the acquired images received from the sensor and the target image is equal to or greater than a threshold value.

[0006] In one embodiment, an inspection vehicle for an amusement park attraction system comprises a bogie configured to engage a route system of the attraction system; and a controller configured to: receive data indicative of a first marker associated with a start of a route section of the route system; monitor a quantity of identified target components in the route section in response to receiving the data indicative of the first marker; receive data indicative of a second marker associated with an end of the route section; determine a total number of identified target components in the route section in response to receiving the data indicative of the second marker based on monitoring the quantity of identified target components in the route section; and output a control signal based on the total number of identified target components.

[0007] In one embodiment, a non-transitory computer-readable medium includes instructions that, when executed by a processor, cause the processor to perform a procedure including receiving data indicative of a first marker associated with a beginning of a route section of an amusement park attraction system; identifying a target component of the route section in response to receiving the data indicative of the first marker; receiving data indicative of a second marker associated with an end of the route section; determining a total number of identified target components of the route section in response to receiving the data indicative of the second marker; and outputting a control signal based on the total number of identified target components. [Brief explanation of the drawings]

[0008] These and other features, aspects, and advantages of the present disclosure will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which like parts are designated by like numerals throughout.

[0009] [Figure 1] FIG. 1 is a schematic diagram of one embodiment of an amusement park attraction system according to one aspect of the present disclosure.

[0010] [Figure 2] FIG. 2 is a side perspective view of an embodiment of an inspection vehicle of an attraction system according to one aspect of the present disclosure.

[0011] [Figure 3] FIG. 3 is a perspective view of an embodiment of an amusement park attraction system according to one aspect of the present disclosure.

[0012] [Figure 4] FIG. 4 is a flow diagram of an embodiment of a method for operating an inspection vehicle of an attraction system according to an aspect of the present disclosure.

[0013] [Figure 5]FIG. 5 is a flow diagram of an embodiment of a method for operating an inspection vehicle of an attraction system according to an aspect of the present disclosure.

[0014] One or more specific embodiments of the present disclosure are described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It will be understood that the development of any actual implementation will require many implementation-specific decisions to be made in order to achieve the developer's particular targets, including conformance with system- and business-related constraints. Moreover, it will be understood that such a development effort may be complex and time-consuming, but would nevertheless be a routine undertaking of design, manufacturing, and fabrication for those of ordinary skill having the benefit of this disclosure.

[0015] When introducing elements of various embodiments of the present disclosure, the articles "a," "an," and "the" are intended to mean the presence of one or more of the element. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. Furthermore, references to "one embodiment" or "one embodiment" of the present disclosure are not intended to be interpreted as excluding the existence of additional embodiments that also contain the recited features.

[0016] As used herein, terms such as "approximately," "typically," and "substantially" are intended to convey that a described property value is within a relatively small range of that property value, as understood by one of ordinary skill in the art. For example, when a property value is described as "approximately" equal to (or, e.g., "substantially similar to") a particular value, this is intended to convey that the property value is within + / - 5%, + / - 4%, + / - 3%, + / - 2%, + / - 1%, or closer to the specified value. Similarly, when a particular feature is described as being "substantially parallel" to another feature, "typically perpendicular" to another feature, etc., this is intended to convey that the feature has the described property of being parallel to the other feature, perpendicular to the other feature, etc., within + / - 5%, + / - 4%, + / - 3%, + / - 2%, + / - 1%, or closer to the specified value. Mathematical terms such as "parallel" and "perpendicular" should not be construed rigidly in the strict mathematical sense, but instead as one of ordinary skill in the art would interpret such terms. For example, one of ordinary skill in the art would understand that two lines that are substantially parallel to one another are parallel to a substantial degree, but that there may be some deviation from exact parallelism.

[0017] The present disclosure is directed to attraction systems for amusement or theme parks. Attraction systems may include roller coasters, dark rides, water rides, underwater rides, theater shows, car rides, etc. For example, an attraction system may include ride vehicles in which guests are placed. When operating the attraction system to entertain guests, the ride vehicles may move (e.g., translate) along a path (e.g., a track, rail, or pathway) to provide entertainment and give guests a sense of movement (e.g., gravity, inertia, or attitude adjustments). Additionally or alternatively, the attraction system may include various show effects, and the ride vehicles may transport guests to different locations in the attraction system to experience different show effects.

[0018] To achieve desired ride vehicle performance for entertaining guests, it may be desirable to maintain the characteristics and features of the path along which the ride vehicle travels. For example, it may be desirable to determine the structural integrity of the path to enable stable movement of the ride vehicle around the path. To this end, it may be desirable to inspect the path to verify the path's condition, such as the joins between path sections, surface finish, shape, texture, topography, profile, etc. The desired path condition may enable the desired ride vehicle speed, desired smoothness, desired acceleration, desired rotation, or other movement associated with the ride vehicle to be achieved. Additionally or alternatively, the desired path condition may extend the useful life of an attraction system, such as a ride vehicle and / or path.

[0019] Unfortunately, inspecting a route can be difficult and / or inefficient. For example, inspection tasks (e.g., manual inspection tasks) can be cumbersome, time-consuming, expensive, and / or challenging. For example, multiple users, such as technicians and operators, may be utilized to complete a single inspection task to inspect one or more route sections. Furthermore, inspection tasks may be limited to be performed under certain environmental conditions (e.g., high ambient light levels, low precipitation conditions). Thus, inspection tasks may not be performed as easily as desired. Furthermore, operation of the attraction system may be interrupted to perform the inspection task. As a result, performing the inspection task may reduce the efficient operation of the attraction system to entertain guests.

[0020] It is therefore recognized that improved route inspection can achieve desirable and / or efficient operation of an attraction system for the entertainment of guests. Accordingly, embodiments of the present disclosure are directed to a vehicle (e.g., an inspection vehicle) designed to perform and operate route inspection tasks for an attraction system. The vehicle can include sensors configured to detect route markers (e.g., gates). The vehicle can include, or be communicatively coupled to, a controller. The controller can receive indications of the detected markers and determine the route section corresponding to the detected marker. The vehicle's sensors or additional sensors then provide data to the controller, which can determine whether the data indicates that the route section is in a desirable condition.

[0021] In one embodiment, the controller can compare the received data with target data indicating a desired state of the path section. For example, the data may include an acquired image, and the target data may include a target image associated with the desired state of the path section. As another example, the controller may determine a quantity of a particular component based on the data, and the target data may include a target quantity of the particular component indicating the desired state of the path section. Thus, in response to a difference between the received data and the target data being equal to or greater than a threshold, the state of the path section may be determined to be undesirable. In response to a difference between the received data and the target data being less than a threshold, the state of the path section may be determined to be desirable. In either case, a control signal indicating the state of the path section may be output, and based on a difference between the received data and the target data being equal to or greater than a threshold, a user may be indicated that the path section should be addressed (e.g., prompt the user that the path section should be addressed). Each different path section may be associated with different target data indicating a desired state. Thus, specific target data associated with each path section may be referenced for comparison to determine whether the path section is in a desired state. In this manner, the state of each path section may be more accurately determined based on the referenced specific corresponding target data. In this way, actions to address the route section can be more appropriately implemented and the route of the attraction system can be more desirably maintained and / or operated.

[0022] While this disclosure primarily describes operations for inspecting paths in an attraction system, it should be understood that similar techniques can be used to inspect other components of an attraction system. For example, the techniques described herein can be used to inspect the attraction system's support structures (e.g., pylons, hinges, beams), show effects (e.g., animated figures, show sets), or any other suitable features that enable a vehicle to determine whether the condition of the attraction system is desirable.

[0023] With the foregoing in mind, FIG. 1 is a schematic diagram of one embodiment of an attraction system 50. The attraction system 50 is operable to entertain one or more guests. For example, the attraction system 50 may include vehicles for transporting or transporting guests to different locations within the attraction system 50 for entertainment. To accomplish this, the attraction system 50 may include a path system 52 (e.g., including rails, tracks, guides, beams) along which guests may be transported. For example, ride vehicles (e.g., vehicle 54) of the attraction system 50 may secure guests therein and move along the path system 52. The movement of the ride vehicles within the attraction system 50 (e.g., along the path system 52) may provide a sense of movement to guests, entertaining them.

[0024] To achieve desired operation of the attraction system 50, such as to provide entertainment to guests, it may be desirable to maintain the pathway system 52. For example, it may be desirable to maintain the alignment, bonding, surface finish, geometry, quality, texture, shape, profile, and / or any other suitable characteristics or properties of the pathway system 52. To this end, an inspection operation may be performed on the pathway system 52. As a result of the inspection operation, the condition of the pathway system 52 can be determined.

[0025] In one embodiment, the attraction system 50 may include a vehicle 54 (e.g., an inspection vehicle or maintenance vehicle) configured to perform inspection operations. During inspection operations, the vehicle 54 may move throughout or within the attraction system 50, such as along a path system 52 used during entertainment operations. In one embodiment, the vehicle 54 may move along a path 56 (e.g., an open path, rail, floor surface) of the path system 52. For example, the vehicle 54 may include a bogie 58 that contacts or engages with the path 56 and drives the movement of the vehicle 54 along the path 56. By way of example, the bogie 58 may include wheels that enable the vehicle 54 to move along the path 56.

[0026] The path system 52 may include guides 60 that guide or steer the vehicles 54 along the path 56. For example, the guides 60 may include rails, protrusions, extensions, or projections to which the bogies 58 may be coupled. Thus, the rails 60 may physically contact the bogies 58 and drive the movement of the vehicles 54 along the path 56. The guides 60 may be existing components of the attraction system 50, such as those used to navigate the ride vehicles through the path system 52 during entertainment operations. In this manner, the vehicles 54 may navigate the path system 52 without the use of additional devices or specialized parts to facilitate movement within the attraction system 50, which may reduce costs associated with installing and / or operating the vehicles 54 and / or may facilitate use of the path system 52 for inspection.

[0027] As another example, the guide 60 can guide the vehicle 54 without contacting the vehicle 54. For example, the vehicle 54 can include a vehicle sensor 62, which represents one or more sensors and is operable to monitor parameters associated with the guide 60, and the vehicle 54 can be moved based on the parameters of the guide 60. For example, the vehicle sensor 62 can receive a signal or other indicator (e.g., a visual indicator) reflected or output from the guide 60 (e.g., a transmitter, a barcode). For example, the vehicle sensor 62 can include an optical sensor (e.g., a camera), a scanner, a receiver, an ultrasonic sensor, a light detection and ranging sensor (LIDAR), a sonar sensor, or other suitable sensor configured to detect a signal or other indicator. The vehicle 54 can further include, or be communicatively coupled to, a controller 64 (e.g., an automation controller, a programmable controller, an electronic controller, a control circuit, a cloud computing system, a control system) of the attraction system 50. The controller 64 can include a memory 66 and a processor 68. The memory 66 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 other non-transitory computer-readable medium containing instructions. The processor 68 may execute these instructions. For example, the processor 68 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. The controller 64 may be communicatively coupled to the vehicle sensors 62 and may receive data from the vehicle sensors 62 that may indicate that a signal or other indication (e.g., from the guide 60) has been received at the vehicle sensors 62. The controller 64 may move (e.g., steer, guide) the vehicle 54 based on the data received from the vehicle sensors 62.

[0028] The controller 64 can also operate the vehicle 54 to determine the condition of the path system 52. For example, the vehicle sensors 62 can visually inspect the path system 52 and provide data indicative of the visual inspection to the controller 64. For example, the vehicle sensors 62 can acquire images (e.g., still images, video, machine vision) of the path system 52, and the controller 64 can receive the acquired images and determine the condition of the path system 52 based on the acquired images. In one embodiment, the controller 64 can compare the acquired images to a target image. The target image can be associated with a desired condition of the path system 52. Thus, a difference between the acquired image and the target image can indicate an undesirable condition of the path system 52. Thus, in response to determining that the difference between the acquired image and the target image is greater than or equal to a threshold value (e.g., if the acquired image and the target image contain a threshold number of different pixels or a threshold amount of portions that appear different), the controller 64 can determine that the condition of the path system 52 is undesirable. As a result, the controller 64 can output control signals to address the undesirable condition of the path system 52. For example, the controller 64 may output control signals to provide an alert (e.g., a visual output, an audio output, a notification sent to a mobile device) to inform a user, such as a technician and / or operator, of an undesirable condition of the route system 52 and prompt the user to address the undesirable condition of the route system 52. Additionally or alternatively, the controller 64 may output control signals to instruct the attraction system 50 to adjust operation, such as reducing and / or suspending recreational operation.

[0029] In one embodiment, vehicle sensors 62 acquire images of fasteners 70, and based on the images, controller 64 determines the status of fasteners 70. As an example, the acquired images of fasteners 70 may indicate the normal presence of fasteners 70. That is, the acquired images may indicate whether fasteners 70 are detected at a given location on path system 52. As another example, the acquired images of fasteners 70 may indicate the position or orientation of fasteners 70, such as how tightly fastened or inserted the fasteners 70 are in an opening.

[0030] For example, the fastener 70 can include torque stripes. The torque stripes can include visual indicators, such as paint, marker, etching, or the like, applied to the head of the fastener 70, the washer onto which the fastener 70 is coupled, the nut to which the fastener 70 is engaged, and / or the surface over which the fastener 70 extends. For example, the torque stripes can extend (e.g., extend linearly) around the fastener 70, washer, nut, and / or surface. The orientation of the torque stripes (e.g., the direction of extension of the torque stripes on the fastener 70, the alignment of the torque stripes on the fastener 70 with the torque stripes on the washer, nut, and / or surface) can indicate the position of the fastener 70, such as whether the fastener 70 is experiencing undesired rotation relative to the surface. For example, linear alignment of the torque stripes on the fastener 70 with the torque stripes on the washer, nut, and / or surface can indicate that the fastener 70 is in the desired position (e.g., tightened). However, misalignment of the torque stripes on the fastener 70 with the torque stripes on the washer, nut, and / or surface can indicate that the fastener 70 is in an undesired position (e.g., untightened, unintentionally rotated). Additionally or alternatively, the fastener 70 can include an identifier (e.g., a QR code) on a portion of the fastener and on the mechanism to which the fastener is coupled (e.g., a plate, rail, beam, nut). If the fastener 70 is in a desired position, the identifier can be scanned by the vehicle sensor 62. However, if the fastener 70 is in an undesired position, the identifier may be distorted and the vehicle sensor 62 may not be able to scan the identifier. Thus, detection of the identifier by the vehicle sensor 62 can indicate whether the fastener 70 is in a desired position. As a further example, acquired images of the fastener 70 can indicate structural conditions, such as deformation (e.g., cracks, changes in shape) or changes (e.g., rust) in the fastener 70. That is, the image obtained of the fixture 70 can indicate whether the fixture 70 is in a desired state, or can also identify whether the fixture 70 is in a particular undesirable state.This may further indicate the state of the path system 52, such as the coupled or uncoupled state of components of the path system 52 (eg, path section 73).

[0031] In further or alternative embodiments, the vehicle sensor 62 may capture images of the surface 72 (e.g., the surface 72 of the path 56 along which the vehicle 54 travels, or a surface that the vehicle 54 engages), and the controller 64 may determine the condition of the surface 72 based on the captured images. For example, the vehicle sensor 62 may capture images each time the vehicle 54 travels along the path system 52. The captured images of the surface 72 may indicate the geometry of the surface 72, such as whether the surface 72 is smooth, has bumps, cracks, a particular texture, etc. The captured images of the surface 72 may also or alternatively indicate the color of the surface 72. The color of the surface 72 may further indicate wear (e.g., wear) of the surface 72, the chemical composition of the surface 72 (e.g., the presence or absence of rust), and formations on the surface 72 (e.g., dirt, debris, etc.). Additionally, the captured images of the surface 72 may be stored over time, and the controller 64 may use the captured images to determine the state of wear, correlation between use and wear, past wear progression history, future wear projections, etc. Additionally, the acquired images of the surface 72 may further indicate the position of the surface 72, such as the alignment and / or coupling between different sections of the surface 72. The acquired images of the surface 72 may indicate whether the surface 72 allows for desired movement of the vehicle 54 around the path 56 and / or desired coupling of the vehicle 54 to the path system 52.

[0032] In yet another embodiment, the vehicle sensor 62 can acquire an image of a treatment 74 applied to the track system 52, such as the track 56. The treatment 74 can include any additional material applied to the track system 52, such as a coating (e.g., a paint coating, a protective resin layer), a cover (e.g., a sleeve), or the like. Such additional material can facilitate maintaining the condition, such as the structural integrity, of certain components of the track system 52 (e.g., the track 56) and / or facilitate desired operation of the attraction system 50 (e.g., reducing friction in the track system 52 to enable desired movement of the vehicle 54). The image of the treatment 74 can indicate whether the additional material remains as desired applied to the track system 52.

[0033] In one embodiment, the controller 64's operations to determine the state of the path system 52 can be performed based on machine learning. As an example, the controller 64 can use a model or algorithm to perform the operations to determine the state of the path system 52, and a user can verify (e.g., by manually reviewing captured images) whether the controller 64 correctly determined the state of the path system 52. For example, the model can be trained using a mixture of real-world images and synthetic images (e.g., generated by a game engine and a randomizer). The controller 64 can perform a two-pass filter (e.g., two-stage object detection and classification, two-pass detection-classifier, two-stage technique) on each image, where a first filter identifies the presence and location of components (e.g., fixtures, path) and a second filter determines the state of the components (e.g., fixture location, path deformation). The controller 64 can output an indication of the state determined as a result of the two-pass filter. A user can provide feedback to the controller 64 indicating whether the controller 64 correctly determined the state of the path system 52, and the controller 64 adjusts the model based on the feedback. As an example, in response to receiving feedback that the state of the path system 52 was incorrectly determined, the controller 64 adjusts the model to correct the incorrect determination and attempt to more accurately determine subsequent states. As another example, in response to receiving feedback that the state was correctly determined, the controller 64 hardens and strengthens the model so that it can maintain accurate determination of subsequent states. In this manner, the controller 64 can improve the model based on feedback provided by the user and more accurately determine the state of the path system 52.

[0034] In addition to, or as an alternative to, comparing the acquired image with the target image, the controller 64 can determine the quantity of a particular component based on the acquired image. For example, the controller 64 can count or tally the quantity of fixtures 70 (e.g., fixtures 70 in desired positions). For example, the controller 64 can increment a count each time it determines that a fixture 70 is included in an acquired image, such as based on the acquired image of the fixture 70 matching the target image of the fixture 70. For example, the controller 64 can determine the total number of a particular component and compare the total number to a target number indicating an expected or desired quantity. Thus, a difference between the total number and the target number equal to or greater than a threshold may indicate an undesirable quantity of the particular component, which may further indicate an undesirable condition of the path system 52. In this manner, the controller 64 can output a control signal to address the undesirable condition of the path system 52 in response to determining that the difference between the total number and the target number is equal to or greater than a threshold.

[0035] The controller 64 can also determine the position of the vehicle 54 within the attraction system 50. For example, the path system 52 can include markers 76 (e.g., representing one or more markers 76) that are used by the controller 64 to determine the position of the vehicle 54 relative to the path system 52 (e.g., around the path 56). For example, the markers 76 can include physical indicia, such as a QR code (e.g., a barcode), an image of which can be captured by the vehicle sensors 62 and transmitted to the controller 64. Additionally or alternatively, the markers 76 can include transmitters (e.g., radio frequency identification tags) configured to output signals that can be received by the vehicle sensors 62. The markers 76 (e.g., gates) can be associated with particular sections, segments, or regions of the boundary path system 52, such as the boundary or border of an end of a section. The vehicle sensors 62 can transmit indicia of the detected markers 76 (e.g., an image of the markers 76, a signal transmitted from the markers 76), and the controller 64 can identify the markers 76 and the section of the path system 52 associated with the markers 76. In response, the controller 64 may determine the position of the vehicle 54 on the section of the route system 52 .

[0036] In one embodiment, the controller 64 can determine target images and / or target quantities for particular components based on the position of the vehicle 54. Indeed, different sections of the path system 52 can be associated with parameters (e.g., fixture 70 placement, surface 72 type, applied treatment 74) that indicate a desired condition. Thus, by utilizing the target images and / or target quantities associated with a particular section, the controller 64 can more accurately determine the condition of the particular section.

[0037] The controller 64 may further determine, predict, or estimate the likelihood of a future failure associated with the path system 52. For example, the controller 64 may determine that the current difference between the acquired image and the target image is below a threshold that prompts the output of a control signal to provide a warning to address the undesirable condition, but may determine a timeline or period during which the undesirable condition may occur (e.g., a period during which the difference between the acquired image and the target image may be greater than or equal to the threshold). In other words, even if the current condition of the path system 52 is desirable, the controller 64 may predict when the condition will no longer be desirable. For example, based on the acquired image, the controller 64 may determine that one of the fixtures 70 is showing signs of rust, but the amount of rust may not be sufficient to cause the difference between the acquired image and the target image to be greater than or equal to the threshold. However, the controller 64 may determine a predicted progression of the rust that will eventually cause a difference between the acquired image and the target image to be greater than or equal to the threshold, which may indicate that a failure associated with the path system 52 has been detected. The controller 64 may output a control signal in response to the predicted progression. In another example, the controller 64 can overlay acquired images of the surface 72 onto the model over time to determine future wear and / or maintenance. For example, images can be acquired for each ride cycle, and the acquired images can be aggregated (e.g., overlaid, combined, superimposed) to determine failures (e.g., wear) of the track system 52. Additionally, the controller 64 can store a wear tolerance for the track system 52. The controller 64 can determine a wear rate of the track system 52 based on the acquired images and can also determine trends and / or relationships based on the acquired images. For example, the controller 64 can determine future failures based on the wear tolerance and the wear rate of the track system 52.For example, controller 64 may determine a time period (e.g., within three months) within which fixture 70 should be replaced to avoid future failure, and controller 64 may output a control signal to provide a warning based on the time period (e.g., to notify a user to replace fixture 70 within three months). To determine the likelihood of a future failure, controller 64 may utilize any suitable parameters for determining a potential future failure, including previously acquired images (e.g., to indicate the progress of a component), parameters associated with the operation of attraction system 50 (e.g., number of ride cycles, period of ride cycle, speed of ride vehicle traversing path 56, weight of ride vehicle), environmental conditions (e.g., humidity, temperature), or any other suitable parameters that indicate or affect the progression of a potential future failure.

[0038] In one embodiment, the vehicle 54 may include a light output device 78. The light output device 78 may output light or other electromagnetic waves toward the path system 52 to facilitate operation of the controller 64. For example, the light output device 78 may direct light to improve visibility of the path system 52 and allow the controller 64 to more easily identify different components of the path system 52 (e.g., fixtures 70, surfaces 72, treatments 74, markers 76), such as in an acquired image of the components. In this manner, the controller 64 may more accurately determine the status of the path system 52 through operation of the light output device 78. In one embodiment, the position of the light output device 78 may be adjustable. For example, the controller 64 may instruct the light output device 78 to adjust the light output direction and / or light intensity, such as to adjust brightness levels, reduce obstructions (e.g., shadows), or otherwise improve visibility of the path system 52.

[0039] In one embodiment, the vehicle 54 may be a dedicated vehicle used to perform inspection operations of the attraction system 50. That is, the vehicle 54 may perform only inspection operations and not other functions. For example, the attraction system 50 may pause its entertainment operations, and the vehicle 54 may perform inspection operations while the entertainment operations are paused. In a further or alternative embodiment, the vehicle 54 may function as a ride vehicle that transports passengers around the route system 52 during entertainment operations of the attraction system 50. Thus, the vehicle 54 may perform inspection operations in addition to (e.g., simultaneously with) the entertainment operations. In this manner, the inspection operations may be performed without interrupting entertainment operations, thereby improving the efficient operation of the attraction system 50 and entertaining guests. In one embodiment, the vehicle 54 may be a dedicated vehicle used to perform inspection operations that do not interrupt entertainment operations. For example, the vehicle 54 may be connected to a ride vehicle that transports passengers. While being towed by the ride vehicle, the vehicle 54 may capture images of the route system 52 during entertainment operations.

[0040] 2 is a side view of a vehicle 54 configured to perform an inspection operation of a track system 52. For example, the track system 52 may include a track 56 and a guide 60 extending laterally (e.g., vertically) from the track 56. A bogie 58 of the vehicle 54 may include a first wheel 100 configured to engage at least one of the track 56 (e.g., a surface of the track 56) and a second wheel 102 configured to engage with the guide 60. The first wheel 100 facilitates movement (e.g., translation) of the vehicle 54 along the track 56, and the second wheel 102 enables movement (e.g., translation) of the vehicle 54 along the guide 60. In one embodiment, the vehicle 54 may include a clamp 104 (e.g., a rubber band, a spring) configured to bias the bogie 58 against the guide 60 to maintain engagement between the vehicle 54 and the track system 52. For example, clamp 104 biases second wheel 102 against guide 60, thereby maintaining second wheel 102 in engagement with guide 60. As a result, vehicle 54 remains coupled to path system 52, and guide 60 can drive movement of vehicle 54 along path 56.

[0041] The vehicle 54 can generally move in a direction 106 (e.g., a straight line, a forward direction, a reverse direction) along the path system 52. For example, the vehicle 54 can include a motor 108 (e.g., a direct drive motor, a brushed motor, a brushless motor), and the controller 64 can direct the motor 108 to drive the rotation of either the first wheel 100 or the second wheel 102 to drive the movement of the vehicle 54 in the direction 106. In additional or alternative embodiments, the vehicle 54 can be driven to move in different ways. For example, an external force (e.g., a manually applied force, gravity) can drive the movement of the vehicle 54 along the path system 52.

[0042] The bogie 58 of the illustrated vehicle 54 also includes an extension 110. Each vehicle sensor 62 can be coupled to a respective extension 110. The extension 110 positions the vehicle sensor 62 above or near a portion of the path system 52 (e.g., the path 56) that is to be detected by the vehicle sensor 62. For example, the extension 110 positions the vehicle sensor 62 to detect fixtures, surfaces, treatments, and / or markers of the path system 56. By way of example, the extension 110 can generally extend from a center portion 112 of the vehicle 54 in the direction 106. In this manner, the extension 110 can facilitate the controller 64 in determining the status of the path system 52. It should be noted that the vehicle 54 can include any number of vehicle sensors 62, such as a single vehicle sensor 62, two vehicle sensors 62, or more than two vehicle sensors 62, configured to visually inspect the path system 52 and provide data to the controller 64. For example, the vehicle sensors 62 may provide captured images of the same component to the controller 64, which may utilize the multiple captured images as redundancy to verify the status of the path system 52. Indeed, the controller 64 may compare the data received from each vehicle sensor 62 and more accurately determine the status of the path system 52 based on the different data. Additionally or alternatively, each different vehicle sensor 62 may be used to determine a different component of the path 56. For example, a first vehicle sensor 62A may be dedicated to detecting markers, a second vehicle sensor 62B may be dedicated to capturing images of fixtures, a third vehicle sensor 62C may be dedicated to capturing images of surfaces, etc. Thus, each vehicle sensor 62 may perform a specific function.

[0043] In one embodiment, the extensions 110 may be adjustable or repositionable. For example, each extension 110 may be configured to move (e.g., via commands provided by the controller 64) to adjust the position of the vehicle sensor 62 relative to the path system 52. Moving the vehicle sensor 62 may allow the vehicle sensor 62 to provide more accurate readings (e.g., capture images from a better angle) while the vehicle 54 is in operation. For example, the extensions 110 may adjust the position of the vehicle sensor 62 linearly and / or rotationally to better align the vehicle sensor 62 relative to the path system 52.

[0044] In the illustrated embodiment, the controller 64 is separate from the vehicle 54, however, in additional or alternative embodiments, the controller 64 may be included as part of the vehicle 54. For example, the controller 64 may be part of (e.g., enclosed within or extending from) the bogie 58. As yet another example, the controller 64 may be part of an additional bogie, such as a bogie dedicated to securing or storing the controller 64, and the additional bogie may be connected to (e.g., towed by) the illustrated bogie 58.

[0045] Further, it should be noted that the vehicle 54 can be easily coupled to different track systems 52. For example, certain components of the vehicle 54 can be adjustable, allowing the vehicle 54 to be disconnected from the illustrated track system 52 and coupled to another track system 52 having different specifications or dimensions. For example, the clamps 104 can be adjustable to engage the vehicle 54 (e.g., the second set of wheels 104) with guides of different dimensions (e.g., thickness), thereby allowing the vehicle 54 to be coupled to a track system 52 having guides of different sizes. Thus, a single embodiment of the vehicle 54 can be used to inspect different track systems 52, thereby reducing the cost and / or complexity associated with manufacturing, deploying, and / or operating each vehicle 54 for inspection of a different track system 52. Furthermore, certain components of the vehicle 54 (e.g., the bogie 58, the vehicle sensors 62, the controller 64) can be modularized and easily disconnected from one another, facilitating the disconnection of the vehicle 54 from the track system 52 and / or the coupling of the vehicle 54 to the track system 52. In this manner, the vehicle 54 may be more easily and / or efficiently deployed (eg, by a user), and inspection tasks for a particular route system 52 may be readily performed by the vehicle 54 .

[0046] Additionally, while the illustrated vehicle 54 is configured to directly engage with the path system 52 (e.g., the same path system 52 along which the ride vehicle travels), in additional or alternative embodiments, the vehicle 54 can move along and inspect the path system 52 without being directly coupled to the path system 52. For example, the vehicle 54 can move near, beside, above, or below the path system 52. By way of example, the vehicle 54 can be coupled to and move along an additional path extending laterally from the path system 52, with the vehicle 54 (e.g., the vehicle sensor 62) extending above the path system to enable the vehicle 54 to inspect the path system 52. Furthermore, the vehicle 54 can utilize any other suitable components for moving along the path system 52 in addition to or as an alternative to the wheels 100, 102. For example, the vehicle 54 can utilize appendages (e.g., legs), gears, chains, conveyors, etc.

[0047] 3 is a perspective view of one embodiment of an attraction system 50 having a track system 52. In the illustrated embodiment, a vehicle 54 is coupled to a track 56 of the track system 52 and is configured to perform an inspection operation. For example, the vehicle 54 can move along the track 56, such as in a forward direction 130, and the controller 64 can receive data to determine the status of the track system 52.

[0048] As described herein, the controller 64 can determine the specific location of the vehicle 54 based on the received data associated with the markers 76 to more accurately determine the status of the sections of the route system 52. In the illustrated embodiment, the route system 52 includes a first marker 76A, a second marker 76B, and a third marker 76C. The first marker 76A can be associated with the first route section 132, the second marker 76B can be associated with the second route section 134, and the third marker 76C can be associated with the third route section 136. For example, the markers 76A, 76B, and 76C can be associated with the beginning points, beginning ends, or upstream ends of the first route section 132, the second route section 134, and the third route section 136, respectively. Additionally or alternatively, when the vehicle 54 moves around the path 56 in a reverse direction opposite to the forward direction 130, the markers 76A, 76B, 76C can be associated with the end points, termini, or downstream ends of the first path section 132, the second path section 134, and the third path section 136, respectively.

[0049] The controller 64 can therefore determine the position of the vehicle 54 relative to the path sections 132, 134, 136 based on the detection of the markers 76A, 76B, 76C. The controller 64 can also determine a target image and / or a target quantity associated with a desired state of the position of the vehicle 54. For example, in response to receiving an indication of the detection of the first marker 76A, the controller 64 can determine that the vehicle 54 is located on the first path section 132. The controller 64 can then determine (e.g., acquire) a target image and / or a target quantity associated with the desired state of the first path section 132 for comparison with the received data (e.g., acquired images, determined quantities). Subsequently, in response to receiving an indication of the detection of the second marker 76B, the controller 64 can determine that the vehicle 54 has completed movement on the first path section 132 and moved onto the second path section 134. Thus, controller 64 may determine target images and / or target quantities associated with the desired condition of second route section 134 for comparison with received data instead of target images and / or target quantities associated with the desired condition of first route section 132. In this manner, controller 64 may utilize and reference information that more accurately represents the desired condition of the particular route section on which vehicle 54 is located based on detection of markers 76A, 76B, 76C.

[0050] In the illustrated embodiment, a portion of the second route section 134 may overlap (e.g., vertically overlap) a portion of the first route section 132. For example, the second route section 134 may extend partially above the first route section 132. Therefore, certain location parameters used to determine the location of the vehicle 54 relative to the route system 52 may not be accurate or realistic. For example, GPS coordinates, such as latitude and longitude, of a portion of the second route section 134 may match the GPS coordinates of a portion of the first route section 132. In such a case, the GPS coordinates may not accurately indicate the location of the vehicle 54 relative to the route system 52 (e.g., whether the vehicle 54 is located on the first route section 132 or the second route section 134). Therefore, the controller 64 may not accurately determine which route section the vehicle 54 is located on based solely on the GPS coordinates. However, because markers 76A, 76B, 76C correspond to specific route sections 132, 134, 136, respectively, detection of markers 76A, 76B, 76C allows controller 64 to more accurately determine the location of vehicle 54 relative to route system 52, such as being located on a specific route section. Furthermore, use (e.g., installation, maintenance) of markers 76A, 76B, 76C may be more cost-effective and / or easier to implement compared to use (e.g., operation) associated with the use of GPS or similar technology. Thus, markers 76A, 76B, 76C may more desirably enable inspection operations to be performed.

[0051] 4 and 5, described below, illustrate respective methods for operating the vehicle 54 of FIGS. 1-3. Any suitable device (e.g., processor 68 of controller 64 of FIGS. 1-3) may perform the methods. In one embodiment, the methods may be performed by executing instructions stored on a tangible, non-transitory computer-readable medium (e.g., memory 66 of controller 64 of FIGS. 1-3). For example, the methods may be performed, at least in part, by one or more software components, one or more hardware components, one or more software applications, etc. Although each method describes operations in a particular order, additional operations may be performed, described operations may be performed in an order different from the illustrated order, and / or certain described operations may be skipped or not performed at all. Furthermore, the operations associated with each method may be performed in any relationship to one another, such as in parallel or responsively.

[0052] 4 is a flow diagram of one embodiment of a method 160 for operating a vehicle to perform an inspection operation on a route system of an attraction system. At block 162, data indicative of a marker (e.g., a gate) is received. The data indicative of the marker may be image data. For example, a sensor on the vehicle traveling on the route system may detect the marker. In one embodiment, the sensor may capture an image of the marker, which may include a physical indicia (e.g., a barcode) indicative of its location relative to the route system. The sensor may transmit data corresponding to the captured image for evaluation. In additional or alternative embodiments, the sensor may receive a signal emitted from the marker, and the sensor may transmit an indication of receipt of the signal as data indicative of the marker.

[0053] In block 164, the route section (e.g., track section, route zone, route area) corresponding to the marker is determined. For example, the route system may have multiple markers, and the stored data may be associated with the route section each marker corresponds to. The stored data may be referenced, and each corresponding route section associated with the detected marker, as indicated in the stored data, is selected as the determined route section.

[0054] At block 166, a captured image of a portion of the route section is received. For example, a sensor on the vehicle or an additional vehicle sensor may capture the image and transmit the captured image. The captured image may include, by way of example, a fixture, a surface, a treatment, or other suitable component, material, device, or portion of the route section.

[0055] In block 168, the acquired image is compared to a target image associated with the route section. For example, stored data may associate a respective target image with each route section. Each target image may indicate a particular desired state of the associated route section. Based on the stored data, a target image associated with the route section corresponding to the detected marker is determined. The acquired image is then compared to the target image. Comparing the acquired image to the target image may facilitate determining whether the current state of the route section indicated by the acquired image is desired.

[0056] In block 170, a control signal is output based on a comparison of the acquired image and the target image. In one embodiment, the control signal can be output based on a difference between the acquired image and the target image being equal to or greater than a threshold. For example, a difference between the acquired image and the target image being equal to or greater than a threshold can indicate that the current state of the path section is undesirable. Thus, the control signal can be output to facilitate addressing the current state of the path section. As an example, the control signal can instruct the output of an alert (e.g., a visual output, an audio output, a notification sent to a mobile device) to prompt a user to address the path section. As another example, the control signal can be output to directly address the path section. For example, a difference between the acquired image and the target image being equal to or greater than a threshold can indicate that a fixture is not properly positioned in a particular opening. Thus, in response to determining that the difference between the acquired image and the target image is equal to or greater than a threshold, the control signal can instruct an actuator to properly position the fixture in the opening, remove the fixture from the opening, replace the fixture from the opening, etc. In this manner, the current state of the path section can be automatically addressed.

[0057] In further or alternative embodiments, a control signal can be output based on the difference between the acquired image and the target image being less than a threshold. For example, a difference between the acquired image and the target image being less than a threshold can indicate that the current state of the path section is desirable. In this manner, a control signal can be output to indicate that the path section is in a desirable state, thereby indicating that no additional action should be taken to address the state of the path section.

[0058] Method 160 can be performed continuously and / or repeatedly. For example, a vehicle can continue to move along a route system and proceed to different route sections. At each route section, an acquired image can be received and compared to a corresponding target image to determine the condition of the route section. Thus, the condition of each route section can be inspected based on, for example, a target image representing a desired condition for that particular section.

[0059] 5 is a flow diagram of an embodiment of a method 200 of operating a vehicle to perform an inspection operation on a route system of an attraction system. In block 202, data indicative of a first marker (e.g., a first gate) associated with the start of a route section (e.g., a track segment, a route zone, a route area) can be received, such as from a sensor on a vehicle traveling on the route system. For example, the data can be received based on captured images and / or signals emitted and received by the marker.

[0060] At block 204, a target component (e.g., a fixture, bracket, support, rail, marking, etc.) for the path section may be identified. In one embodiment, a captured image of a portion of the path section (e.g., a portion where the target component is expected to be present) is received. The captured image is compared to a target image that indicates the presence of the target component, and the target component may be identified based on a match between the captured image and the target image (e.g., based on the difference between the captured image and the target image being less than a threshold). In further or alternative embodiments, the target component may include a component (e.g., a transmitter) configured to emit a signal, and the target component may be identified based on receipt of the signal.

[0061] In block 206, the quantity of identified target components is monitored. That is, the identified target components are tallied or counted. By way of example, the quantity of identified target components can be incremented as each target component is identified. For example, the quantity of identified target components can be incremented as each different acquired image (e.g., a different portion of the path section where the target component is expected to be present) is received, and each acquired image can be compared to a target image. The quantity of identified target components can be incremented as each difference between the respective acquired image and the target image is determined to be less than a threshold. Additionally or alternatively, the quantity can be incremented as each different signal emitted from a different target component is received.

[0062] At block 208, data indicative of a second marker (e.g., a second gate) associated with the end of the route section may be received. For example, the data indicative of the second marker may be received in a manner similar to the reception of data indicative of a first marker associated with the beginning of the route section. In one embodiment, the second marker may directly indicate the end point of the route section. In additional or alternative embodiments, the second marker may indicate the beginning of another route section, thereby indirectly indicating the end of the route section. In either embodiment, a determination may be made that the vehicle has completed traversing the route section in response to receiving the data indicative of the second marker.

[0063] In response to receiving data indicating the second marker associated with the end of the path section, a total number of identified target components can be determined at block 210. By way of example, monitoring of the quantity of target components for the path section can be stopped, and the quantity of identified target components for the path section that was tallied during target component identification can be determined as the total number.

[0064] In block 212, a control signal can be output based on the total number of identified target components. In one embodiment, the control signal can be output to directly indicate the total number. For example, the control signal can be output to inform a user of the total number, and the user can determine whether to address the path section based on the total number. In further or alternative embodiments, the control signal can be output based on a comparison of the total number to a target quantity of the identified target components associated with the path section. For example, stored data can associate respective target quantities corresponding to each path section, and these target quantities can indicate a desired state for each respective path section. The target quantities used for comparison with the total amount can be selected based on the target quantity associated with the path section associated with the first marker. Comparing the total number to the target quantity can facilitate determining whether the state of the current path section indicated by the total number of target components is desirable. In practice, there may be different target quantities for different path sections. Thus, each target quantity can indicate a desired state specific to the corresponding path section. The control signal can be output in response to a difference between the total number and the target quantity being equal to or greater than a threshold. By way of example, a difference between the total number and the target quantity equal to or greater than a threshold may indicate that the condition of the current route section is undesirable. Accordingly, a control signal may be output to facilitate addressing the current condition, such as to prompt a user to address the route section. For example, a control signal may indicate a determined difference between the total number and the target quantity and indicate that a fixture may be missing from the route section. In further or alternative embodiments, a control signal may be output based on the difference between the total number and the target quantity being less than a threshold. For example, a control signal may indicate that the condition of the current route section is desirable.Indeed, the control signal can be output based on the total number of identified target components being in any suitable threshold range (e.g., a threshold range above the target quantity, a threshold range below the target quantity).

[0065] Method 200 can be performed continuously and / or repeatedly. For example, after receiving data indicating a second marker associated with the end of a path section, data indicating a third marker associated with the start of an additional path section can be received, and the total number of identified target components for the additional path section can similarly be determined (e.g., until data indicating a fourth marker associated with the completion of the additional path section is received). In this manner, the respective total numbers of identified target components associated with each path section can be determined, and it can be determined whether each path section is in a desired state.

[0066] While only certain features of the invention 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 invention.

[0067] The technology presented and claimed herein is not abstract, intangible, or purely theoretical, since it refers to and is applied to tangible objects and specific examples of a practical nature, thereby providing a definite improvement in the art. Furthermore, where any claim appended at the end of this specification contains one or more elements designated as "means for [performing] ... [function]" or "step for [performing] ... [function]," it is intended that such elements be construed in accordance with 35 U.S.C. 112(f). Conversely, for any claim containing an element designated in any other manner, it is intended that such element not be construed in accordance with 35 U.S.C. 112(f).

Claims

1. one or more bogies configured to engage a path of the attraction system; a sensor configured to acquire an image of the path; a controller communicatively coupled to the sensor, receiving data indicative of the detected marker; determining a route section on which an inspection vehicle is located based on the detected markers; determining a target image associated with the route section; receiving an acquired image from the sensor; outputting a control signal in response to determining that a difference between the captured image received from the sensor and the target image is greater than or equal to a threshold; a controller configured to: Equipped with An inspection vehicle for amusement park attraction systems.

2. The bogey is a first set of wheels configured to engage the path of the attraction system; and and a second set of wheels configured to engage guides of the path of the attraction system.

3. 2. The inspection vehicle of claim 1, comprising a plurality of sensors comprising the sensor, wherein the sensor or an additional sensor of the plurality of sensors is configured to identify the detected marker and transmit the data indicative of the detected marker to the controller.

4. The controller repeatedly receiving additional captured images from the sensor; repeatedly monitoring the number of times a difference between the additional captured image received from the sensor and the target image is less than a threshold value for the path section; receiving data indicative of the additional detected markers; determining that the inspection vehicle has completed traversing the route section in response to receiving the data indicative of the additional detected marker; 2. The inspection vehicle of claim 1, configured to: in response to determining that the inspection vehicle has completed travel of the route section, discontinue monitoring the number of times a difference between the additional acquired image received from the sensor and the target image is less than the threshold value for the route section.

5. The controller determining a total number of times a difference between the additional captured image received from the sensor and the target image is less than the threshold value for the route section; determining a target number of times for the route section; and outputting an additional control signal in response to determining that the difference between the total number of occurrences and the target number of occurrences is greater than an additional threshold value.

6. The inspection vehicle of claim 1 , wherein the bogie includes an extension that extends about a direction of travel of the bogie about the path.

7. The inspection vehicle of claim 6 , wherein the controller is configured to direct the extension to move the sensor relative to the path.

8. a bogie configured to engage a path system of the attraction system; a controller, receiving data indicating a first marker associated with a start of a route section of the route system; monitoring a quantity of identified target components in the path section in response to receiving the data indicative of the first marker; receiving data indicating a second marker associated with an end of the route section; determining a total number of identified target components for the path section in response to receiving the data indicative of the second marker and based on monitoring the quantity of identified target components for the path section; outputting a control signal based on the total number of identified target components; a controller configured to: Equipped with A vehicle in an amusement park attraction system.

9. The controller comparing the total number of identified target components with a target quantity associated with the path section; and outputting the control signal based on a comparison of the total number of identified target components to the target quantity.

10. 10. The vehicle of claim 9, wherein the controller is configured to output the control signal in response to a difference between the total number of identified target components and the target quantity exceeding a threshold value.

11. The controller receiving data indicating a third marker associated with the beginning of an additional route section of the route system; monitoring additional quantities of the identified target component on the additional path section in response to receiving the data indicative of the third marker; receiving data indicating a fourth marker associated with an end of the additional route section; determining an additional total number of identified target components for the additional route section in response to receiving the data indicative of the fourth marker and based on monitoring the additional quantities of identified components for the additional route section; comparing the additional total number of identified target components with an additional target quantity associated with the additional path section, wherein the additional target quantity associated with the additional path section is different from the target quantity associated with the path section; and and outputting an additional control signal based on a comparison of the additional total number of identified target components to the additional total number.

12. A set of wheels and 9. The vehicle of claim 8, further comprising: an adjustable clamp configured to bias the set of wheels against guides of the track system to engage the bogie with the track system.

13. The vehicle of claim 8 , wherein the controller is configured to output the control signal in response to the total number of identified target components being equal to a threshold range.

14. The controller receiving an acquired image of the route section; comparing the acquired image with a target image; and increasing the quantity of identified target components in response to determining that the difference between the acquired image and the target image is less than a threshold.

15. A non-transitory computer-readable medium that, when executed by a processor, causes the processor to: receiving data indicating a first marker associated with a beginning of a route section of an attraction system at an amusement park; identifying a target component of the path section in response to receiving the data indicative of the first marker; receiving data indicating a second marker associated with an end of the route section; determining a total number of identified target components for the path section in response to receiving the data indicative of the second marker; outputting a control signal based on the total number of identified target components; A non-transitory computer-readable medium containing instructions for carrying out a procedure including:

16. 16. The non-transitory computer-readable medium of claim 15, wherein the instructions, when executed by the processor, are configured to cause the processor to output a control signal indicative of the path section in response to determining that a difference between the total number of identified target components and a target quantity associated with the path section exceeds a threshold.

17. The instructions, when executed by the processor, cause the processor to: referencing data associating each of a plurality of route sections of the amusement park attraction system with a corresponding respective target quantity; and selecting, for comparison, the total number of identified target components and the corresponding respective target quantities associated with the path section associated with the first marker based on the corresponding respective target quantities associated with the path section associated with the first marker.

18. The non-transitory computer-readable medium of claim 15 , wherein the second marker is associated with the beginning of an additional route section.

19. The instructions, when executed by the processor, cause the processor to: receiving the captured image; comparing the acquired image with a target image; and identifying a target component based on a difference between the acquired image and the target image being less than a threshold value.

20. The instructions, when executed by the processor, cause the processor to: increasing a quantity of identified target components in the path section in response to receiving a signal emitted from each target component; and determining the total amount of identified target components in the path section based on the quantity of identified target components increased in response to receiving the signal emitted to the respective target component.

Images