Movement generation platform assembly

Abstract

The present invention provides a ride system and method with features that enhance the guest experience. The vehicle system includes a base, a ride vehicle, a platform assembly disposed between the base and the ride vehicle, and an extension mechanism coupled to the platform assembly and disposed between the base and the ride vehicle. The platform assembly includes a first platform, a second platform, and six legs extending between the first and second platforms, and the platform assembly is configured to actuate each of the six legs to move the first platform relative to the second platform in different configurations based on which of the six legs is actuated. The extension mechanism is configured to extend and retract to move the ride vehicle away from and toward the base of the vehicle system, respectively.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. patent application Ser. No. 62 / 456,506, entitled "Inverted Stewart Platform and Flying Reaction Deck," filed Feb. 8, 2017, which is incorporated by reference in its entirety herein for all purposes.

[0002] FIELD OF THE DISCLOSURE The present disclosure relates generally to the field of amusement parks. More specifically, embodiments of the present disclosure relate to ride systems and methods having features that enhance the guest experience. [Background technology]

[0003] Various entertainment rides and exhibits have been created to provide guests with unique interactive, motion, and visual experiences. For example, a conventional ride may include a vehicle that travels along a track. The track may include portions that induce motion on the vehicle (e.g., turns, drops) or actuate (activate) the vehicle. However, conventional ride vehicle actuation (e.g., through a curved track) may be expensive and include a large vehicle footprint. Furthermore, conventional ride vehicle actuation (e.g., through a curved track) may be limited with respect to certain desired motions, i.e., may not generate the desired sensations for passengers. Thus, improvements in ride vehicle actuation are desirable. Summary of the Invention [Means for solving the problem]

[0004] Certain embodiments commensurate with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the present disclosure, but rather, these embodiments are intended only to provide a brief summary of certain disclosed embodiments. Indeed, the present disclosure may encompass a variety of forms that may be similar to or different from the embodiments listed below.

[0005] In one embodiment, the vehicle system includes a base, a vehicle vehicle, a platform assembly positioned between the base and the vehicle vehicle, and an extension mechanism coupled to the platform assembly and positioned between the base and the vehicle vehicle. The platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform, and the platform assembly is configured to actuate each of the six legs to move the first platform relative to the second platform in different configurations based on which of the six legs is actuated. The extension mechanism is configured to extend and retract to move the vehicle away from and towards the base of the vehicle system, respectively.

[0006] In another embodiment, a vehicle system includes a platform assembly including a first platform, a second platform, and six legs extending between the first and second platforms. The first platform includes a first anchor location (fixed location) to which a first leg and a second leg of the six legs are coupled, a second anchor location to which a third leg and a fourth leg of the six legs are coupled, and a third anchor location to which a fourth leg and a fifth leg of the six legs are coupled. The second platform includes a fourth anchor location to which a third leg and a sixth leg are coupled, a fifth anchor location to which a second leg and a fifth leg are coupled, and a sixth anchor location to which a first leg and a fourth leg are coupled. The first anchor position is aligned with the fourth anchor position when the six legs are of equal length, the second anchor position is aligned with the fifth anchor position when the six legs are of equal length, and the third anchor position is aligned with the sixth anchor position when the six legs are of equal length.

[0007] In another embodiment, a method of operating a ride vehicle includes supporting the ride vehicle under a track of a ride system through a plurality of cables. The method also includes monitoring forces within the ride system through a controller. The method also includes adjusting torque output of a plurality of motors based on the monitored forces within the ride system through command by the controller of a plurality of motors corresponding to the plurality of cables.

[0008] These and other features, aspects, and advantages of the present disclosure will become better understood when read in conjunction with the accompanying drawings, in which like reference characters represent like parts throughout the drawings, in which: [Brief description of the drawings]

[0009] [Figure 1]FIG. 1 is a schematic diagram of an embodiment of a vehicle system having a platform assembly, an expansion mechanism, and feedback control features in accordance with an embodiment of the present disclosure. [Diagram 2] 1 is a schematic side view of an embodiment of a vehicle system including a flying reaction deck having a platform assembly with an inverted Stewart platform in accordance with an embodiment of the present disclosure; [Diagram 3] 3 is a schematic side view of an embodiment of the vehicle system of FIG. 2 having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure. [Figure 4] 3 is a schematic perspective view of an embodiment of the vehicle system of FIG. 2 having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure. [Diagram 5] 1 is a schematic side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure; [Figure 6] FIG. 1 is a schematic perspective view of an embodiment of an inverted Stewart platform in accordance with an embodiment of the present disclosure. [Figure 7] FIG. 7 is a schematic perspective view of an embodiment of the inverted Stewart platform of FIG. 6 in accordance with an embodiment of the present disclosure. [Figure 8] FIG. 7 is a schematic perspective view of an embodiment of the inverted Stewart platform of FIG. 6 in accordance with an embodiment of the present disclosure. [Figure 9] FIG. 13 is a schematic perspective view of another embodiment of an inverted Stewart platform in accordance with an embodiment of the present disclosure. [Figure 10] FIG. 10 is a schematic perspective view of an embodiment of an actuator utilized in the inverted Stewart platform of FIG. 9 in accordance with an embodiment of the present disclosure. [Figure 11] 1 is a schematic side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure; [Figure 12]1 is a schematic side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure; [Figure 13] 1 is a schematic side view of another embodiment of a vehicle system having a flying reaction deck with an inverted Stewart platform in accordance with an embodiment of the present disclosure; [Figure 14] FIG. 1 is a block diagram illustrating an embodiment of a process for controlling a flying reaction deck having a platform assembly with an inverted Stewart platform in accordance with an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] One or more specific embodiments of the present disclosure are described below. In order to provide a concise description of these embodiments, all features of an actual implementation may not be described herein. It must be appreciated that the development of any such actual implementation, as with any engineering or design project, will require many implementation-specific decisions to be made in order to achieve the developer's specific goals, such as adhering to possible system-related and business-related constraints that vary from implementation to implementation. It must be further appreciated that such a development effort may be complex and time-consuming, but will nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill in the art having the benefit of the present disclosure.

[0011] The embodiments of the present disclosure are directed to amusement park rides and exhibits. Specifically, the rides and exhibits incorporate motion-based systems and corresponding technologies that can be designed or intended to allow passengers to perceive certain sensations that are otherwise not possible or significantly reduced in conventional ride systems. In the rides and exhibits disclosed herein, the passenger experience can be enhanced through the use of certain motion-based systems and technologies. For example, the ride system can incorporate one or more devices that generate up to six degrees of freedom to provide passengers with sensations that cannot normally occur in conventional ways (e.g., turning, falling). The devices can include two platforms coupled through legs that extend between them. The legs are coupled to the two platforms at an angle to a specific location along the two platforms such that when the legs (or corresponding features) are actuated, they move the two platforms relative to each other. One way in which the platforms can be coupled through legs according to the present disclosure is referred to herein as an "inverted Stewart platform," which is different from a conventional Stewart platform. A conventional Stewart platform can be described as having opposing platforms connected by legs that extend in pairs from three extension regions of each of the two opposing platforms. The inverted Stewart platform includes six legs extending between the opposing platforms, the six legs extending from positions along the opposing platforms and oriented between the opposing platforms in a manner substantially different than a conventional Stewart platform. The different positions / orientations of the inverted Stewart platform, which are described in detail below with reference to the drawings, are configured to, among other things, increase the stability of the inverted Stewart platform and corresponding vehicle components.

[0012] Generally, a first of the two platforms of the inverted Stewart platform described above can be coupled to (or correspond to) an amusement ride vehicle or exhibit, while a second of the two platforms can be coupled to (or correspond to) an amusement ride track (or exhibit base). In some embodiments, the extension mechanism can be located between the first platform and the ride vehicle, or between the second platform and the track or base. The legs connecting the first and second platforms can be controlled (e.g., contracted, extended, or otherwise actuated) to move the first platform relative to the second platform, thereby causing the ride vehicle coupled to (or corresponding to) the first platform to move with the first platform. In embodiments having the extension mechanism described above, the extension mechanism can be actuated independently or in cooperation with the legs of the inverted Stewart platform described above to extend, complement, or interact with the movement and corresponding sensations provided by the inverted Stewart platform.

[0013] The embodiments described herein allow for a wide range of motion without requiring the use of a curved track. Thus, the footprint of the ride system according to this embodiment may be reduced. Additionally, the embodiments disclosed herein may increase the range of motion of the ride vehicle and allow for more finely tuned actuation than conventional ride systems. For example, a wider range of motion may be provided through an inverted Stewart platform, which may facilitate improved stability of the ride. Additionally, actuation may be imparted to the ride vehicle without the ride vehicle occupant having to imagine a source of actuation. To that end, the embodiments disclosed herein may enhance the ride experience by immersing passengers in a three-dimensional environment without an obvious track or base. In certain embodiments, the environment of the ride system may include features separate from the vehicle and / or track, in which case the environmental features may be positioned, oriented, or otherwise placed to appear as if they themselves impart actuation to the ride vehicle that is actually provided by the inverted Stewart platform and / or augmentation mechanisms as described above. In other words, the disclosed embodiments can facilitate actuation through components that cannot be perceived by the occupants of the ride vehicle. Additionally, the disclosed embodiments can enable ride designers to provide simulated experiences with displacement, velocity, acceleration, and jerk, while reducing the cost and engineering complexity of any portion of the ride trajectory. Additionally, the disclosed embodiments are configured to detect and manage reactive forces associated with the movement of the ride vehicle. These and other features are described in detail below with reference to the drawings.

[0014] In addition to the above aspects, the motion control axis arrangement according to the present disclosure provides geometric stability due to sharper actuation angles than conventional approaches for a given total motion base volume envelope. In preferred embodiments, this corresponds to a larger force component in a direction that stabilizes lateral movement between the mounting planes of the motion base. Furthermore, as will be described in detail with reference to the following figures, the reduced actuation angle can facilitate smaller platform size.

[0015] FIG. 1 is a schematic diagram of an embodiment of a ride system 10 having a track 12. The track 12 may be a circuit such that the ride vehicles 14 of the ride system 10 begin on a portion of the track 12 and eventually return to the same portion of the track 12. The track 12 may include a turnaround, an uphill, or a downhill, or the track (or portions thereof) may extend in a single direction. In certain embodiments, the ride vehicles 14 may travel down (i.e., beneath) the track 12 for the duration of the ride or portions thereof. The ride vehicles 14 may include a number of passengers 16 disposed within the ride vehicles 14. In certain embodiments, the ride vehicles 14 may include an enclosure (e.g., a cabin) that surrounds the passengers 16. The passengers 16 may be loaded onto or unloaded from the ride vehicles 14 at a portion of the track 12 (e.g., a dock). In other embodiments, the track 12 may not be included or utilized as part of the ride.

[0016] In addition, the ride vehicle 14 may also include a platform assembly 18 that induces motion on the ride vehicle 14. In certain embodiments, the platform assembly 18 may be directly coupled to the track 12 and / or directly coupled to the ride vehicle 14. In other embodiments, the platform assembly 18 may be indirectly coupled to the track 12 and / or indirectly coupled to the ride vehicle 14, i.e., the platform assembly 18 may be decoupled from the track and / or ride vehicle 14 with intervening parts. The platform assembly 18 may induce motion (e.g., roll, pitch, yaw) in the ride vehicle 14 to enhance the experience of the passengers 16. In some embodiments, an extension mechanism 19 may be disposed between the platform assembly 18 and the track 12 (as shown) or between the platform assembly 18 and the ride vehicle 14. The platform assembly 18 and the extension mechanism 19 may be communicatively coupled to a controller 20, which may command the platform assembly 18 and / or the extension mechanism 19 to induce the motions described above. By utilizing the platform assembly 18 and / or extension mechanism 19 to induce certain motion in the ride vehicle 14, features (e.g., shapes) of the track 12 that would otherwise be costly and increase the footprint of the ride system 10 can be reduced or eliminated.

[0017] The controller 20 may be located within the vehicle system 10 (e.g., within each vehicle vehicle 14 or somewhere on the track 12) or may be located external to the vehicle system 10 (e.g., to operate the vehicle system 10 remotely). The controller 20 may include a memory 22 having instructions stored thereon for controlling components within the vehicle system 10, such as the platform assembly 18. Additionally, the controller 20 may include a processor 24 configured to execute such instructions. For example, the processor 24 may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof. Additionally, the memory 22 may include volatile memory, such as random access memory (RAM), and / or non-volatile memory, such as a read only memory (ROM), an optical drive, a hard disk drive, or a solid state drive.

[0018] The platform assembly 18 may include an inverted Stewart platform. An example of an inverted Stewart platform is shown in detail at least in FIGS. 6-9, which are described in detail below. Typically, an inverted Stewart platform includes two platforms between which the legs (e.g., six legs) of the inverted Stewart platform extend. Each platform includes three contact areas (e.g., "anchor locations") at which the legs are coupled. In some embodiments, each contact area (e.g., anchor location) on one of the platforms may include one or more winches configured to receive the legs or an opening extending therethrough for the legs to couple to one or more winches on the other side of that platform.

[0019] Each platform, e.g., the first platform, includes three contact areas and six legs extending therefrom, such that a first pair of legs extends from a first contact area of ​​the first platform, a second pair of legs extends from a second contact area of ​​the first platform, and a third pair of legs extends from a third contact area of ​​the first platform. The six legs are configured to be actuated (e.g., by a winch as described above) such that the lengths of the six legs vary during operation of the inverted Stewart platform. For example, the legs can be actuated independently, actuated in pairs, or actuated in various arrangements such that different legs include different lengths during a certain mode of operation. In accordance with the present disclosure, when all six legs include equal lengths, the two platforms are parallel to each other (e.g., the "parallel position" of the inverted Stewart platform). Furthermore, when all six legs include equal lengths, the three contact areas of the first platform are circumferentially aligned with the three contact areas of the second platform. In other words, when viewed from above or below the inverted Stewart platform, the three contact areas of the first platform and the three contact areas of the second platform are arranged in an aligned annular position. That is, the respective contact areas on the first and second platforms are aligned in this arrangement and distributed approximately along (or radially inward from) the circumference of each of the first and second platforms. Furthermore, when all six legs include equal length, the angle formed between each individual leg and one of the platforms according to the disclosed embodiment of the present invention can be 45 degrees or less. These features can improve the stability of the inverted Stewart platform compared to conventional platforms.

[0020] 2 illustrates another embodiment of a ride system 50 according to this embodiment. The ride system 50 includes an inverted Stewart platform 58 and an extension mechanism 60, which may be referred to collectively or individually as a "flight reaction deck" (or a portion of a "flight reaction deck"). It should be noted that the extension mechanism 60 and / or the inverted Stewart platform 58 (or other platform assembly) may be referred to as a "flight reaction deck" because they induce motion in the ride vehicle 54 of the ride system 50 without utilizing the curvature of the track 52 of the ride system 50, and because the passengers may be unaware of the source of motion. Thus, the flight reaction deck is configured to impart a particular sensation to the passengers of the ride vehicle 54 through motion.

[0021] As an example, the extension mechanism 60 (or the flight reaction deck or a portion thereof) can provide additional motion complexity to a vehicle system that includes a simple track. As a specific example, a vehicle system having a straight track can be implemented to feel as if there are hills, valleys, and / or curvatures using the extension mechanism 60. Thus, the extension mechanism 60 moves the vehicle vehicle 54 to impart motion without utilizing a large area of ​​curved track. By reducing the curvature (and therefore the area) of the track 52, components of the vehicle system 50 that would require a larger area in a conventional embodiment can be placed in a smaller area while still imparting that sensation to the passengers of the vehicle 54. The inverted Stewart platform 58 can also impart motion (e.g., roll, pitch, yaw) that can be imparted by the track in a conventional embodiment. It should also be noted that other embodiments can use different types of platform assemblies than the inverted Stewart platform 58 described above. Additionally, the inverted Stewart platform 58 is shown generally in FIG. 2, while more detailed examples are provided in FIGS. 6-9.

[0022] Continuing with the embodiment shown in FIG. 2, the track 52 is coupled directly to a mount 56 (e.g., a bogie). In certain embodiments, the mount 56 can use wheels that are fixed and capable of rolling on the track 52. The mount 56 can be coupled to the inverted Stewart platform 58 through the extension mechanism 60 described above. The extension mechanism 60 can couple the mount 56 to the inverted Stewart platform 58 using a scissor lift, an actuator (e.g., hydraulic or pneumatic), or any combination thereof. The extension mechanism 60 can provide the ride vehicle 14 with one degree of freedom (e.g., vertical alignment in direction 53) or two or more degrees of freedom. For example, as the ride vehicle 54 travels along the track 52, the ride vehicle 54 encounters a segment of the track 52 along which it is desirable to lift the ride vehicle 54. Thus, instead of using the curvature of the track 52 in direction 53 to move the ride vehicle 54 along direction 53, the extension mechanism 60 can be actuated to lift the ride vehicle 54 to the appropriate vertical position. In this manner, the extension mechanism 60 can control the position of the ride vehicle 54 along the direction 53 without creating hills or dips in the track 52, saving costs when manufacturing the track 52. Another embodiment of the ride system 50 is shown in FIG. 3 where the inverted Stewart platform 58 is coupled directly to the mount 56 and / or track 52, and the extension mechanism 60 is coupled to the ride vehicle 54 between the ride vehicle 54 and the inverted Stewart platform 58.

[0023] FIG. 4 is a schematic perspective view showing an embodiment of the vehicle system 50 of FIG. 2 in more detail. As shown in FIG. 4, the extension mechanism 60 is coupled to an upper platform 80 of the inverted Stewart platform 58. The winch 82 can be located approximately along the periphery of the upper platform 80 (or radially inward therefrom). The inverted Stewart platform 58 includes a set of legs 84 (e.g., six legs) that couple the upper platform 80 to a lower platform 86. In certain embodiments, the legs 84 extending between the two platforms 80, 86 can be cables or ropes that are coupled to the winches 82 on the upper platform 80. In this manner, the winches 82 can extend and / or retract the corresponding legs 84 to achieve a desired motion. The winches 82 can be communicatively coupled to the controller 20 that controls when the legs 84 extend and / or retract by commanding the operation of the winches 82. For example, in certain embodiments, the controller 20 can be programmed to operate the winches 82 to extend and / or retract the legs 84 at specific time intervals (e.g., at specific segments along the track circuit). The controller 20 can control the winches 82 independently, in pairs, or otherwise, such that the legs 84 can be controlled independently, in pairs, or otherwise. Additionally, the controller 20 can monitor the forces applied to the legs 84 of the inverted Stewart platform 58 to ensure that the induced motion remains within desired thresholds. It should be noted that in some embodiments, the winches 82 can be coupled to the lower platform instead of the upper platform 80, or alternately between the upper platform 80 and the lower platform 86. In still other embodiments, there may be pairs of winches coupled to each other through a single cord (e.g., cable or rope) to provide redundancy and additional functionality (e.g., speed of extension and retraction).

[0024] In the illustrated embodiment, the legs 84 are coupled to the lower platform 86 at attachment points 88 (or attachment areas) through fasteners, hooks, welds, another suitable coupling feature, or any combination thereof. The attachment points 88 securely couple the legs 84 to the lower platform 86. The lower platform 86 is coupled to the ride vehicle 54. Thus, when a winch 82 along the upper platform 50 is actuated to change the length of the legs 84, the winch 82 pulls the lower platform 86 and the attached ride vehicle 54 towards the upper platform 50 through the legs 84. It should be noted that although the above description refers to three contact areas (e.g., "anchor locations") along each platform, each platform may actually include six contact areas (e.g., anchor locations) grouped into pairs, with the two contact areas of a given pair being located near each other.

[0025] The embodiment of the ride system shown in Figures 2-4 allows the inverted Stewart platform 58 and the augmentation mechanism 60 to travel with the ride vehicle 54. Additionally, the inverted Stewart platform 58 and the augmentation mechanism 60 can be hidden from view of passengers located within the ride vehicle 54 (e.g., based on limited visibility caused by the location of the window 90 located within the ride vehicle 54). As such, passengers located within the ride vehicle 54 may not be able to anticipate when motion will occur. This can induce unexpected motion to enhance the passenger experience. Additionally, because the inverted Stewart platform 58 and the augmentation mechanism 60 travel with the ride vehicle 54, motion can be induced at any portion of the track 52 and is not limited to elements located on the track 52. This allows for greater flexibility in generating motion and sensations and can also save costs when manufacturing the ride system 10, since additional motion generating elements (e.g., additional actuators or track segments) can be substituted for these features. Additionally, the size of the track 52 may be reduced since the extension mechanism 60 and inverted Stewart platform 58 are utilized to generate the predetermined motion, as opposed to a curved track that would otherwise increase the track footprint. In some embodiments, the illustrated extension mechanism 60 and inverted Stewart platform 58 may be used in exhibits that do not include a ride (e.g., where the track 52 and mount 56 shown in FIG. 2 are replaced with a fixed or limited range base). In each of FIGS. 2-4, the disclosed inverted Stewart platform, extension mechanism 60, or both, are configured to manage reaction forces associated with the movement of the ride vehicle 54 during operation of the ride system 50.

[0026] As shown diagrammatically in FIG. 4, other embodiments of the ride system 50 may use cables 110 in place of the extension mechanism 60 (which uses a scissor lift) of FIGS. 2-4. These cables 110 may be part of an actuation system (e.g., configured to extend and retract the cables 110 via a winch) or may be fixed. In either case, modes of actuation may arise where it is desirable to individually control each of the cables 110 and / or each of the legs of the inverted Stewart platform 58, depending on the reaction forces associated with the motion of the ride vehicle 54. For example, the motion of the ride vehicle 54 may be at least partially cycle dependent when more passengers are located at one end of the ride vehicle 54 than the other end, or when actuation of the platform assembly 58 (e.g., the inverted Stewart platform) shifts the weight of the ride vehicle 54 during the course of its actuation. That is, the reaction forces caused by the movement of the ride vehicle 54 may vary from one actuation cycle to the next, and the stability of the ride system 50 may be increased by individually controlling the cables 110 and / or the legs of the platform assembly 58 (e.g., an inverted Stewart platform) in response to the reaction forces. In such circumstances, the control techniques may be implemented in a manner that manages the cycle-dependent reaction forces through control feedback. For example, the controller 20 may receive sensor feedback from sensors 111 distributed about the system 50. The sensors 111 may be located on the mount 56, on the track 52, on the platform assembly 58, on the ride vehicle 54, or elsewhere. The sensors 111 may include torque sensors or other suitable sensors that detect torque on the ride vehicle 54. In some embodiments, the sensors 111 may include optical sensors (or other suitable sensors) that detect a position or orientation of the ride vehicle 54, which may be indicative of torque or twist of the ride vehicle 54. For example, the position or orientation of the ride vehicle 54 may be indicative of forces within the system 50.

[0027] The controller 20 can analyze sensor feedback from one or more sensors 111 and can utilize a torque compensation algorithm to initiate control of tension in the cable 110 and / or extension / retraction of the legs 84 by a motor (e.g., associated with the winch 82 in FIG. 4 ) or other actuator (e.g., as shown and described with respect to FIGS. 9 and 10 ). In some embodiments, each of the sensors 111 can be part of a corresponding motor or other actuator that controls the cable 110 and / or the legs 84 of the platform assembly 58 (e.g., an inverted Stewart platform), such that the motor or other actuator controls the cable 110 and / or the legs 84 at the source of the detected parameter. In doing so, the cable 110 and / or the legs 84 can be prevented from sagging. In other words, the torque compensation algorithm can monitor the forces in the vehicle system 50 and adjust the torque output of the motor or other actuator that controls the movement of the legs 84 and / or the cable 110 to prevent sagging, thereby increasing the stability of the vehicle system 50.

[0028] 2-5 may also improve the ability to maintain stability of the ride vehicle 54 while it is subjected to external perturbations (e.g., by a water jet), which may be used to guide the ride vehicle 54 along a path. Indeed, as discussed above, the movement of the ride vehicle 54 may vary from one actuation cycle to the next, and in some cases may depend on external perturbations that may or may not be associated with the ride system 50. The implementation of torque, tension, and / or other feedback allows for stability of the ride vehicle 54 even when the position, orientation, and general motion of the ride vehicle 54 are dynamically changing during the course of the ride or from one actuation cycle to the next, regardless of whether that motion is caused by features of the ride system 50 or by external features interacting with the ride system 50.

[0029] 6 is a schematic diagram of an embodiment of an inverted Stewart platform 150 similar to that shown in the previous figures. The inverted Stewart platform 150 includes a first platform 152 (e.g., upper platform), a second platform 154 (e.g., lower platform), and six legs 156, 158, 160, 162, 164, 166 (collectively referred to as "legs 84") extending between the upper and lower platforms 152, 154. The six legs 84 may be contractible and extendable independently and / or in concert with one another to allow one or both of the upper and lower platforms 152, 154 to move in any one of six degrees of freedom (i.e., direction 51, direction 53, direction 57, roll 141, pitch 143, and yaw 145). In certain embodiments, the lower platform 154 may be coupled to or integral with the ride vehicle 54 on which a plurality of passengers are located. Thus, actuation of the six legs 84 (e.g., contracting / extending) may cause the lower platform 154 and the ride vehicle to move in any one of six degrees of freedom. Furthermore, in certain embodiments, the upper platform 152 may be coupled to or integral with the track of the ride system such that the ride vehicle is located below the track. Thus, as the upper platform 152 slides along the track of the ride system, the lower platform 154 and the corresponding ride vehicle move along the same path. In other embodiments, the reverse configuration may be used, with the ride vehicle extending above the track and the lower platform 154 coupled to the ride vehicle.

[0030] In the illustrated embodiment, the upper platform 152 includes three contact areas 152a, 152b, 152c (e.g., "anchor locations") and the lower platform 154 includes three other contact areas 154a, 154b, 154c (e.g., anchor locations) that are circumferentially spaced apart substantially equal distances from one another along the periphery of the respective upper and lower platforms 152, 154 within the respective upper and lower platforms 152, 154. As mentioned above, a winch may be located at the contact areas 152a, 152b, 152c, at the contact areas 154a, 154b, 154c, or both, and may be configured to extend / retract the legs 84 (e.g., by a motor in the winch or coupled to the winch).

[0031] As shown, each contact area 152a, 152b, 152c, 154a, 154b, 154c receives two of the six legs 84. Furthermore, when all six legs 84 are of equal length (e.g., such that the upper and lower platforms 152, 154 are parallel to one another as shown), the three contact areas 152a, 152b, 152c of the upper platform 152 are approximately circumferentially aligned (e.g., aligned along the circumferential direction 159) with the three contact areas 154a, 154b, 154c of the lower platform 154. This may be referred to as the "parallel position" of the inverted Stewart platform 150. Thus, in the parallel position, assuming platforms 152, 154 are of equal size, contact area 152a is aligned approximately beneath contact area 154a, contact area 152b is aligned approximately beneath contact area 154b, and contact area 152c is aligned approximately beneath contact area 154c. Legs 156 coupled to contact area 152a extend into contact area 154b, and legs 158 coupled to contact area 152a extend into contact area 154c. Legs 160 coupled to contact area 152b extend into contact area 154a, and legs 162 coupled to contact area 152b extend into contact area 154c. Legs 164 coupled to contact area 152c extend into contact area 154a, and legs 166 coupled to contact area 152c extend into contact area 154b. Thus, in the illustrated embodiment, each of the legs 84 extends from an initial contact area to a contact area of ​​an opposing platform that is not above or below (ie, at the same x, y location) the initial contact area.

[0032] The configuration of the inverted Stewart platform 150 described above reduces the angle 155 between each of the legs 84 and each of the upper and lower platforms 152, 154 as compared to conventional embodiments, even when the legs 84 include different lengths (e.g., during actuation). The reduction in the angle 155 of the legs 84 of the inverted Stewart platform 150 (e.g., as compared to conventional embodiments) can increase the stability of the inverted Stewart platform 150 by generating a greater restoring force on the legs 84. For example, the reduction in the angle 155 can increase the overall stiffness of the inverted Stewart platform 150 to reduce undesirable movement. Additionally, whereas a conventional Stewart platform assembly may include one large platform to provide stability, the reduction in the angle 155 described above promotes stability with smaller platforms. It should be noted that in some embodiments, the platforms 152, 154 may not be of equal size, and in those embodiments, the contact areas 152a, 152b, and 152c would still be aligned with the contact areas 154a, 154b, and 154c, respectively, along the circumferential direction 159; however, if the size of the upper platform 152 is larger, the contact areas 152a, 152b, and 152c of the upper platform 152 cannot be positioned above the contact areas 154a, 154b, 154c of the lower platform 154, but instead can be aligned radially outward therefrom and positioned circumferentially or annularly (e.g., along the direction 159).

[0033] As mentioned above, the arrangement shown in FIG. 6 allows for a reduction in the angle 155 between any given leg 84 and the corresponding platform 152 or 154 as compared to a conventional Stewart platform. In an embodiment, the angle 155 formed between each leg 84 and the platform 152, 154 is 45 degrees or less when all legs 156, 158, 160, 162, 164, 166 are of equal length. The disclosed arrangement produces a compact structure that allows for stable movement in multiple degrees of freedom in accordance with this embodiment. As mentioned above, a conventional Stewart platform assembly may include a large platform to provide stability, but the reduction in angle 155 as described above with respect to the disclosed embodiment promotes stability with a smaller platform.

[0034] In the illustrated embodiment of the inverted Stewart platform 150, the legs 84 may alternate between an "outer leg" and an "inner leg" to promote even motion and force distribution. In other words, starting from contact area 152a on the upper platform 152 and moving counterclockwise, leg 156 (the "inner leg") of contact area 152a extends inwardly of legs 160 and 164, and leg 158 (the "outer leg") of contact area 152a extends outwardly of leg 164. Moving then to contact area 152c, leg 164 (the "inner leg") of contact area 152c extends between legs 158 and 162, and leg 166 (the "outer leg") of contact area 152c extends outwardly of leg 162. Moving next to contact area 152b, leg 162 (the "inner leg") extends between legs 164 and 166, while leg 160 (the "outer leg") of contact area 152b extends outboard of leg 156. Of course, a similar but inverted arrangement could be used by swapping the outer and inner legs, respectively. In other embodiments, different configurations could be utilized.

[0035] FIG. 7 illustrates an embodiment of the inverted Stewart platform 150 of FIG. 6 with a different position / orientation of the lower platform 152. As shown in FIG. 7, the lower platform 154 has been moved such that the contact area 154a is further from the upper platform 154 along direction 53 than in the "parallel position" described with respect to FIG. 6. To achieve this position, the legs 160 and 164 can be extended by the winch 180 (and its corresponding motor) to lower the contact area 154a in direction 53. Similarly, the winch 180 can be utilized to retract the legs 158 and 162. When the length of the legs 158 and 162 is sufficiently retracted, the contact area 154c can be moved closer to the upper platform 152 along direction 53 than in the "parallel position" described with respect to FIG. 6. In other words, the legs 84 can be adjusted to enable the position shown and to maintain the stability of the inverted Stewart platform 150. In this positioning, the inverted Stewart platform 150 can induce a sensation in the passenger by moving the ride vehicle. For example, the ride vehicle can be coupled to the lower platform 154, and the positioning shown in FIG. 7 can put the ride vehicle in an inclined or lowered position. Since the inverted Stewart platform 150 includes a circular arrangement, similar positions can be achieved for other contact areas. Furthermore, repositioning can be commanded in rapid and consecutive sequence to enhance the sensation. Furthermore, repositioning can be commanded to manage or compensate for reaction forces exerted on the system by the ride vehicle coupled to the inverted Stewart platform 150. To that end, the passenger of the ride vehicle can perceive the ride vehicle as "flying" or "reacting" to various forces without using track curvature to impart certain of the forces, and the stability of the system can be controlled in situations where the motion of the ride vehicle is different from the desired motion.

[0036] FIG. 8 is a schematic diagram of an embodiment of an inverted Stewart platform 150. As shown in FIG. 8, the position of the lower platform 154 is farther away from the upper platform 152 along the direction 53 than shown in FIG. 6. In other words, the distance 171 between the platforms 152, 154 is greater in FIG. 8 than in FIG. 6. This configuration can occur, for example, by simultaneously extending all of the legs 156, 158, 160, 162, 164, 166. The distance 171 can be changed even when the inverted Stewart platform 150 is not in the parallel position described above. Of course, in another actuation sequence, the platforms 152, 154 can be pulled closer together by retracting the legs 84. In either sequence, the new position can adjust the height of the ride vehicle (i.e., along the direction 53), thereby enhancing the passenger experience. For example, the ride vehicle can be lowered to be closer to an element outside the ride vehicle (e.g., an exhibit or attraction adjacent to the ride vehicle, etc.). Additionally, as the ride vehicle descends, a sensation can be created for passengers (ie, a "falling" sensation) to enhance the ride experience.

[0037] As shown in FIGS. 7 and 8, the inverted Stewart platform 150 can induce several different motions in the ride vehicle. To do so, the track features utilized to induce motions in the ride vehicle can be reduced, thereby reducing the size and / or cost of the ride system. As described above, the inverted Stewart platform 150 and the extension mechanism (e.g., extension mechanism 60 of FIGS. 2-5) can work in conjunction to mimic a similar or identical sensation generated by the track while maintaining stability. For example, the track may no longer include an inclined slope because the inverted Stewart platform 150 can enable tilting (and / or vertical lifting of the ride vehicle 54) in conjunction with the vertical motion of the ride vehicle induced by the extension mechanism (e.g., extension mechanism 60 of FIGS. 2-5). This can reduce the overall cost of manufacturing the track and ride system, and can reduce the overall footprint of the track and ride system.

[0038] Although upper platform 152 and lower platform 154 are shown as circular slabs in Figures 6-8, in other embodiments, they can be any suitable shape. Additionally, upper platform 152 and lower platform 154 can be different shapes relative to one another. As mentioned above, in one embodiment, upper platform 152 can be coupled to an extension mechanism (e.g., extension mechanism 60 of Figures 2-5) or track (e.g., through an intervening bogie that slides along the track), and lower platform 154 can be coupled to a ride vehicle. In this embodiment, the ride vehicle can hang from the track, as shown in Figures 2 and 4 (i.e., illustrating the ride vehicle and track).

[0039] 9 illustrates another embodiment of a platform assembly 200. The platform assembly 200 can include an upper platform 202 and a lower platform 204. In this embodiment, the legs 202, 204, 206, 208, 210, 212 can be extended and / or retracted by an actuator 230. To that end, the legs may not be coupled to a winch or include a cable or rope, although a winch may also be used in combination with the actuator 230.

[0040] To provide a more detailed look at one of the legs 84, FIG. 10 illustrates an embodiment of an actuator 230 that may be used with the platform assembly 200. As shown, the actuator 230 may include a middle segment 232 and two leg segments 234 coupled to either end of each middle segment 232. The leg segments 234 may be metal, carbon fiber, another suitable material, or any combination thereof to enable a stable coupling with the actuator 230. The middle segment 232 moves the actuator 230 by extending and retracting the leg segments 234 in and out of the middle segment 232 (e.g., extending and retracting the corresponding legs, respectively).

[0041] Additional embodiments of ride systems utilizing platform assemblies and / or extension mechanisms are described below. For example, FIG. 11 is a schematic diagram of an embodiment of a system 250 having a cabin 252 located on a base 254 and on an intervening platform assembly 256 (e.g., an inverted Stewart platform), where the platform assembly 256 couples to the cabin 252 and to the base 254. The cabin 252 is thus oriented in a different manner with respect to the track 254 than shown in FIG. 2. Windows 258 can be positioned or arranged on the cabin 252 to allow or block views from within the cabin 252 of certain features, as described above. The base 254 can be a fixed base associated with the track or an exhibit or show. In some embodiments, the base 254 can be an open path along which the cabin 252 and corresponding inverted Stewart platform 256 can travel (e.g., by wheels). It should be noted that in certain embodiments, the cabin 252 can be replaced by an element of the show.

[0042] FIG. 12 is a schematic diagram of an embodiment of a system 300 in which a cabin 302 is disposed to the side of a base 304 (e.g., in direction 51). Here, a platform assembly 306 (e.g., an inverted Stewart platform) is located a distance away from the base 304 in direction 51, and the cabin 302 is coupled to the platform assembly 306 and located an additional distance away in direction 51. As in FIG. 11, a window 308 may be disposed on the cabin 302 to allow or block a view of certain features from within the cabin 302. As mentioned above, the base 304 may be a track or a fixed structure. Additionally, while the illustrated embodiment shows a cabin 302, in certain embodiments the cabin 302 may be replaced with a show element.

[0043] In another embodiment, as shown in FIG. 13, the system 350 can include a platform assembly 352 (e.g., an inverted Stewart platform) that is implemented using a performance show. An upper platform 354 of the platform assembly 352 can be coupled to a stage 356, and a lower platform 358 can be coupled to a stationary element 360 (e.g., the ground or floor below the stage 356). Thus, the stage 356 can be configured to hold one or more people (or show elements / components) and can be configured to move relative to the stationary element 360. For example, one or more people can perform a show and the platform assembly 352 can move the stage 356 to improve the show. In the system presented in FIGS. 11-13, the controller (e.g., controller 20 of FIG. 1) can also monitor the forces applied to each ride system (e.g., each leg) to ensure stability, at least similar to the description included above in connection with FIG. 5.

[0044] 14 illustrates an embodiment of a method 400 for controlling a ride system according to the present disclosure. The method 400 includes receiving (e.g., at a controller) a signal commanding positioning of a platform assembly (or its platform) (block 402). For example, a particular movement of the platform assembly may be desired to move (e.g., roll, pitch, yaw, up, or down) a ride vehicle coupled to the platform assembly (e.g., to a lower platform of the platform assembly). It should be noted that the platform assembly may be an inverted Stewart platform assembly, and in some embodiments, the ride system may be a stage or other show exhibit where a stationary base replaces a track.

[0045] Method 400 also includes extending and / or retracting certain of the legs of the platform assembly through command of a motor winch or other actuator by the controller (block 404) to move the platform assembly (or its platform) in accordance with the commands described above with respect to block 402. As described above, movement of the platform assembly may move the ride vehicle or cabin of the system (or the stage in embodiments related to a show or exhibit), which may create reaction forces in the load path (e.g., the extension cables) between the ride vehicle and the track.

[0046] The method 400 also includes measuring, sensing, or detecting (block 406) reactive forces (or parameters representative of the forces) in the ride system. For example, as described above, torque sensors, optical sensors, or other sensors may be used to detect forces (or parameters representative of the forces, such as the orientation of the ride vehicles) in the ride system. The controller may receive the sensor feedback and determine how best to manage the reactive loads / forces exerted by the movement of the ride vehicles based on a torque compensation algorithm.

[0047] Method 400 also includes determining adjustments to the system (block 407) by the controller analyzing the reaction forces through a torque compensation algorithm. Additionally, method 400 includes adjusting the legs and / or extension cables of the platform assembly (block 408). As described above, the controller can determine the desired adjustments and command motors or other actuators to adjust tension in the legs and / or extension cables (e.g., by extending and contracting the legs and / or extension cables) to prevent slack in the legs and / or extension cables.

[0048] The above-described systems and methods are configured to allow for management of reactive loads on the ride system due to movement of the ride vehicle caused by the extension mechanism and / or platform assembly (e.g., an inverted Stewart platform). The extension mechanism and / or platform assembly move the vehicle without utilizing a curved track that would otherwise take up more space and increase the footprint of the ride system. Feedback control allows the system to monitor reactive forces caused by the motion of the ride vehicle and adjust the system to maintain stability of the ride system.

[0049] 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.

Claims

1. 1. A method of operating a vehicle system, comprising: determining, via a controller, a first force on the ride system during a first cycle of the ride system, the ride system including a base, a ride vehicle, a platform assembly disposed between the base and the ride vehicle, and an extension mechanism disposed between the base and the ride vehicle, the platform assembly including a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform, the extension mechanism including a plurality of cables configured to expand and contract to move the ride vehicle relative to the base; actuating, via the controller, the plurality of legs to move the first platform relative to the second platform to move the ride vehicle relative to the base; causing, via the controller, a motor of a plurality of motors to output a first torque based on the first force in the ride system to wind up a cable of the plurality of cables to move the ride vehicle relative to the base; determining, via the controller, a second force on the vehicle system during a second cycle of the vehicle system; causing, via the controller, the motors of the plurality of motors to output a second torque based on the second force in the vehicle system to reel in the cables of the plurality of cables; A method comprising: actuating, via the controller, the plurality of legs to adjust the plurality of legs to a first position based on the first force in the vehicle system during the first cycle; actuating, via the controller, the plurality of legs to adjust the plurality of legs to a second position based on the second force on the vehicle system during the second cycle; The method of claim 1 , comprising: monitoring, via the controller, additional forces on the vehicle system resulting from actuation of the plurality of legs of the platform assembly; modulating, via the controller, a torque output by the motor based on the additional forces in the vehicle system resulting from the actuation of the plurality of legs; The method of claim 2 , comprising:

4. The method of claim 1, comprising determining the first force and the second force in the vehicle system via data received via the controller from a torque sensor configured to determine a torque in the vehicle system, an optical sensor configured to determine an orientation of the vehicle vehicle, or both.

5. The method of claim 1, wherein the step of determining the first force and the second force in the vehicle system via the controller includes a step of determining a weight distribution of the vehicle vehicle.

6. 2. The method of claim 1 , wherein causing the motors of the plurality of motors via the controller to output the first torque, the second torque, or both, causes expansion of the cables of the plurality of cables to move portions of the ride vehicle away from the base.

7. 2. The method of claim 1 , wherein causing the motors of the plurality of motors via the controller to output the first torque, the second torque, or both, causes contraction of the cables of the plurality of cables to move the portion of the ride vehicle toward the base.

8. A non-transitory computer-readable medium containing instructions that, when executed by a processing circuit, determining a first force on a ride system during a first cycle of the ride system, the ride system including a base, a ride vehicle, and a platform assembly disposed between the base and the ride vehicle, the platform assembly including a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform; adjusting a leg of the plurality of legs to adjust the plurality of legs to a first position based on the first force on the vehicle system; determining a second force on the vehicle system during a second cycle of the vehicle system; and adjusting the legs of the plurality of legs to adjust the plurality of legs to a second position based on the second force on the vehicle system; causing a plurality of motors configured to selectively wind a plurality of cables of an extension mechanism disposed between the base and the ride vehicle to output a first torque based on the first force in the ride system during the first cycle; causing the plurality of motors to output a second torque based on the second force on the vehicle system during the second cycle; A non-transitory computer-readable medium configured to cause the processing circuit to perform the following:

9. 9. The non-transitory computer readable medium of claim 8, wherein the instructions, when executed by the processing circuitry, are configured to cause the processing circuitry to adjust the legs of the plurality of legs to cause movement of the ride vehicle relative to the base via movement of the first platform relative to the second platform.

10. 10. The non-transitory computer readable medium of claim 9, wherein the instructions, when executed by the processing circuitry, are configured to cause the processing circuitry to adjust the legs of the plurality of legs to a roll, pitch, yaw, extension, contraction, or any combination thereof, of the ride vehicle relative to the base.

11. 10. The non-transitory computer readable medium of claim 8, wherein the instructions, when executed by the processing circuitry, are configured to cause the processing circuitry to adjust the legs of the plurality of legs to cause expansion or contraction of the legs of the plurality of legs.

12. 9. The non-transitory computer-readable medium of claim 8, wherein each leg of the plurality of legs includes a respective actuator, and the instructions, when executed by the processing circuitry, are configured to actuate the respective actuator of the leg of the plurality of legs to adjust the leg.

13. 9. The non-transitory computer-readable medium of claim 8, wherein the platform assembly includes a plurality of winches configured to move the plurality of legs, and the instructions, when executed by the processing circuitry, are configured to actuate winches of the plurality of winches to adjust the legs of the plurality of legs.

14. 1. A method comprising: determining, via a controller, a first force on the vehicle system during a first cycle of the vehicle system, the vehicle system comprising: With the base, A vehicle; a platform assembly disposed between the base and the ride vehicle, the platform assembly including a first platform, a second platform, and a plurality of legs extending between the first platform and the second platform; an extension mechanism disposed between the base and the ride vehicle and coupled to the platform assembly, the extension mechanism including a plurality of cables configured to extend and contract to move the ride vehicle away from and toward the base of the vehicle system, respectively; determining, via the controller, causing a plurality of motors to output a first torque to control tension in the plurality of cables of the expansion mechanism; determining, via the controller, a second force on the vehicle system during a second cycle of the vehicle system; causing the plurality of motors to output a second torque via the controller; A method comprising: determining, via the controller, reaction forces in the vehicle system as a result of the step of causing the plurality of motors to output torque; adjusting, via the controller, the torques output by the plurality of motors based on the reaction forces; 15. The method of claim 14, comprising:

16. 15. The method of claim 14, wherein determining the first force and the second force on the ride system via the controller includes monitoring forces imparted by the platform assembly to the ride vehicle.

Images