Patent Description:
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 a guest's experience. Document <CIT> discloses a driving simulation test apparatus that simulates the movement of a vehicle in accordance with the driving operation of a subject. The driving simulator includes a dome in which a vehicle model is installed, an XY translation mechanism for circularly rotating the dome, a hexapod for tilting the dome, and circularly rotating the vehicle model. Other examples of platforms using six actuated legs are known from <CIT>, <CIT>, <CIT>, <CIT>.

Various amusement rides and exhibits have been created to provide guests with unique interactive, motion, and visual experiences. For example, a traditional ride may include a vehicle traveling along a track. The track may include portions that induce a motion on the vehicle (e.g., turns, drops), or actuate the vehicle. However, traditional ride vehicle actuation (e.g., via curved track) may be costly and may include a large ride footprint. Further, traditional ride vehicle actuation (e.g., via curved track) may be limited with respect to certain desired motions and, thus, may not create the desired sensation for the passenger. Accordingly, improved ride vehicle actuation is desired.

In one embodiment, a ride system includes a base, a ride vehicle, a platform assembly positioned between the base and the ride vehicle, and an extension mechanism coupled to the platform assembly and positioned between the base and the ride 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 so as 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 contract so as to move the ride vehicle away from and toward, respectively, the base of the ride system.

In another embodiment, a ride system includes a platform assembly, where the platform assembly includes a first platform, a second platform, and six legs extending between the first platform and the second platform. The first platform includes a first anchor position to which a first leg and a second leg of the six legs are coupled, a second anchor position to which a third leg and a fourth leg of the six legs are coupled, and a third anchor position to which a fourth leg and a fifth leg of the six legs are coupled. The second platform includes a fourth anchor position to which the third leg and the sixth leg are coupled, a fifth anchor position to which the second leg and the fifth leg are coupled, and a sixth anchor position to which the first leg and the fourth leg are coupled. The first anchor position is aligned with the fourth anchor position when the six legs are of equal lengths, the second anchor position is aligned with the fifth anchor position when the six legs are at equal lengths, and the third anchor position is aligned with the sixth anchor position when the six legs are at equal lengths.

In another embodiment, a method of operating a ride vehicle includes supporting, via a plurality of cables, a ride vehicle under a track of the ride system. The method also includes monitoring, via a controller, forces in the ride system. The method also includes modulating, via instruction by the controller of a plurality of motors corresponding to the plurality of cables, a torque output of the plurality of motors based on the monitored forces in the ride system.

Embodiments of the present disclosure are directed toward amusement park rides and exhibits. Specifically, the rides and exhibits incorporate a motion-based system and corresponding techniques that may be designed or intended to cause a passenger to perceive certain sensations that would not otherwise be possible or would be significantly diminished by a traditional ride system. In the presently disclosed rides and exhibits, the passenger experience may be enhanced by employing certain motion-based systems and techniques. For example, the ride system may incorporate a device that produces, or devices that produce, up to six degrees of freedom to provide sensations to the passengers that cannot normally be created from traditional methods (e.g., turns, drops). The device may include two platforms that are coupled via legs extending therebetween. The legs are coupled to particular locations along the two platforms, and at angles with respect to the two platforms, so as to cause the two platforms to move relative to one another when the legs (or corresponding features) are actuated. One manner by which the platforms may be coupled via the legs, in accordance with the present disclosure, is referred to herein as an "inverted Stewart platform," which differs from a traditional Stewart platform. A traditional Steward platform may be described as having opposing platforms which are connected by legs, where the legs extend in pairs from three extension regions on each of the two opposing platforms. The inverted Stewart platform includes six legs extending between opposing platforms, where the six legs extend from positions along the opposing platforms, and are oriented between the opposing platforms, in ways that differ substantially from those of the traditional Stewart platform. The different positions/orientations of the inverted Stewart platform, which will be described in detail below and with reference to the drawings, are configured to enhance, among other things, stability of the inverted Stewart platform and corresponding ride components.

In general, a first of the two platforms of the inverted Stewart platform noted above may be coupled with (or correspond to) a vehicle of the amusement park ride or exhibit, whereas a second of the two platforms may be coupled with (or correspond to) a track of the amusement park ride (or a base of the exhibit). In some embodiments, an extension mechanism may be disposed between the first platform and the ride vehicle, or between the second platform and the track or base. The legs coupling the first and second platforms may be controlled (e.g., retracted, 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 along with the first platform. In embodiments having the above-described extension mechanism, the extension mechanism may be actuated independently, or in conjunction with the above-described legs of the inverted Stewart platform, to augment, supplement, or interact with the movement and corresponding sensations imparted by the inverted Stewart platform.

Presently described embodiments permit a wide range of motion without requiring the use of a curved track. Thus, a footprint of the ride system in accordance with present embodiments may be reduced. Further, presently disclosed embodiments may increase a range of motion of the ride vehicle, may enable more finely tuned actuation than traditional ride systems. For example, a wider range of motion may be provided via the inverted Stewart platform, and the inverted Stewart platform may facilitate improved ride stability. Further still, actuation may be imparted to the ride vehicle without occupants of the ride vehicle visualizing a source of the actuation. As such, presently disclosed embodiments may enhance the ride experience by immersing the passenger in a <NUM>-dimensional environment without an obvious track or base. In certain embodiments, an environment of the ride system may include features separate from the vehicle and/or track, where the environmental features may be positioned, oriented, or otherwise situated so as to appear as though the environmental features themselves impart the actuation to the ride vehicle that, as described above, actually originates from the inverted Stewart platform and/or the extension mechanism. In other words, presently disclosed embodiments may facilitate actuation via components that are not perceivable by the occupant of the ride vehicle. Furthermore, present embodiments may permit ride designers to deliver simulated experiences involving displacement, velocity, acceleration, and jerk while at any portion of the ride track, which may save costs and engineering complexity. Still further, disclosed embodiments are configured to detect and manage reactionary forces associated with movement of the ride vehicle. These and other features will be described in detail below, with reference to the drawings.

Further to the points above, the arrangement of motion controlled axes in accordance with the present disclosure provides geometric stability due to more acute actuation angles than conventional approaches for a given gross motion base volumetric envelope. In one preferred embodiment, this amounts to greater force components in directions stabilizing lateral movement between motion base mounting planes. Further, the reduced actuation angles may facilitate smaller platform sizes, as described in detail with reference to the drawings below.

<FIG> is a schematic illustration of an embodiment of a ride system <NUM> having a track <NUM>. The track <NUM> may be a circuit such that a ride vehicle <NUM> of the ride system <NUM> starts at one portion of the track <NUM> and eventually returns to the same portion of the track <NUM>. The track <NUM> may include turns, ascents, or descents, or the track (or portions thereof) may extend in a single direction. In certain embodiments, the ride vehicle <NUM> may travel below (i.e., under) the track <NUM>, for a duration of the ride, or for portions thereof. The ride vehicle <NUM> may include multiple passengers <NUM> who are disposed within the ride vehicle <NUM>. In certain embodiments, the ride vehicle <NUM> may include an enclosure (e.g., a cabin) to enclose the passengers <NUM>. The passengers <NUM> may be loaded on, or unloaded from, the ride vehicle <NUM> at a portion (e.g., a dock) of the track <NUM>. In other embodiments, the track <NUM> may not be included or utilized as part of the ride.

In addition, the ride vehicle <NUM> may also include a platform assembly <NUM> that induces motion on the ride vehicle <NUM>. In certain embodiments, the platform assembly <NUM> may be directly coupled to the track <NUM> and/or directly coupled to the ride vehicle <NUM>. In other embodiments, the platform assembly <NUM> may be indirectly coupled to the track <NUM> and/or indirectly coupled to the ride vehicle <NUM>, meaning that intervening components may separate the platform assembly <NUM> from the track <NUM> and/or ride vehicle <NUM>. The platform assembly <NUM> may induce motion (e.g., roll, pitch, yaw) onto the ride vehicle <NUM> to enhance an experience of the passengers <NUM>. In some embodiments, an extension mechanism <NUM> may be disposed between the platform assembly <NUM> and the track <NUM> (as shown), or between the platform assembly <NUM> and the ride vehicle <NUM>. The platform assembly <NUM> and the extension mechanism <NUM> may be communicatively coupled to a controller <NUM>, which may instruct the platform assembly <NUM> and/or the extension mechanism <NUM> to cause the aforementioned motions. By utilizing the platform assembly <NUM> and/or the extension mechanism <NUM> to induce certain motions on the ride vehicle <NUM>, features (e.g., shapes) of the track <NUM> that are otherwise costly and increase a footprint of the ride system <NUM> may be reduced or negated.

The controller <NUM> may be disposed within the ride system <NUM> (e.g., in each ride vehicle <NUM>, or somewhere on the track <NUM>), or may be disposed outside of the ride system <NUM> (e.g., to operate the ride system <NUM> remotely). The controller <NUM> may include a memory <NUM> with stored instructions for controlling components in the ride system <NUM>, such as the platform assembly <NUM>. In addition, the controller <NUM> may include a processor <NUM> configured to execute such instructions. For example, the processor <NUM> 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 <NUM> may include volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read-only memory (ROM), optical drives, hard disc drives, or solid-state drives.

The platform assembly <NUM> may include an inverted Stewart platform. Examples of the inverted Stewart platform are illustrated in detail at least in <FIG>, which are described in detail below. In general, the inverted Stewart platform includes two platforms, between which legs (e.g., six legs) of the inverted Stewart platform extend. Each platform includes three contact regions (e.g., "anchor positions") at which the legs are coupled. In some embodiments, each contact region (e.g., anchor position) on one of the platforms may include a winch or winches configured to receive the legs, or an opening through which the legs extend to couple to a winch or winches on the other side of the platform.

Since each platform, for example the first platform, includes three contact regions and six legs extending therefrom, a first pair of legs extends from a first contact region of a first platform, a second pair of legs extends from a second contact region of the first platform, and a third pair of legs extends from a third contact region of the first platform. The six legs are configured to be actuated (e.g., by the aforementioned winches) such that lengths of the six legs change during operation of the inverted Stewart platform. For example, the legs may be independently actuated, actuated in pairs, or actuated in various arrangements such that different legs include different lengths during certain operating modes. In accordance with the present disclosure, when all six legs include equal lengths, the two platforms are parallel with each other (e.g., a "parallel position" of the inverted Stewart platform). Further, when all six legs include equal lengths, the three contact regions of the first platform circumferentially align with the three contact regions of the second platform. In other words, from a perspective directly above or below the inverted Stewart platform, the aforementioned three contact regions of the first platform and three contact regions of the second platform will be disposed at aligned annular positions. That is, respective contact regions on the first and second platforms line up in this configuration and they are distributed generally along the circumferences of each of the first and second platforms (or radially inward from the circumferences). Further still, when all six legs include equal lengths, the angle formed between an individual leg and one of the platforms may be <NUM> degrees or less, in accordance with an embodiment of the present disclosure. These features, among others, enable improved stability of the inverted Stewart platform with respect to traditional platforms.

<FIG> illustrates another embodiment of a ride system <NUM> in accordance with present embodiments. The ride system <NUM> includes an inverted Stewart platform <NUM> and an extension mechanism <NUM>, which may be referred to collectively or individually as a "flying reaction deck" (or as a portion of the "flying reaction deck"). It should be noted that the extension mechanism <NUM> and/or the inverted Stewart platform <NUM> (or other platform assembly) may be referred to as the "flying reaction deck" because they induce motion on a ride vehicle <NUM> of the ride system <NUM> without utilizing curves of a track <NUM> of the ride system <NUM>, and because the passenger(s) may be unaware of a source of the motion. Thus, the flying reaction deck is configured to impart certain sensations to passengers in the ride vehicle <NUM> via movement.

As an example, the extension mechanism <NUM> (or flying reaction deck, or part thereof) can provide additional movement complexity to a ride system that includes a simple track. As a specific example, a ride system with a straight track can be implemented to feel as though there are hills, valleys, and/or curves using the extension mechanism <NUM>. Thus, the extension mechanism <NUM> moves the ride vehicle <NUM> without having to utilize large areas of curved track to impart the motions. By reducing curves (and, thus, area) of the track <NUM>, components of the ride system <NUM> may be capable of being disposed in a smaller area, while still imparting the sensations to the passengers of the ride vehicle <NUM> that, in traditional embodiments, required larger areas. The inverted Stewart platform <NUM> may also impart motions (e.g., roll, pitch, yaw) that, in traditional embodiments, may be imparted by a track. It should also be noted that, in other embodiments, a different type of platform assembly may be used than the aforementioned inverted Stewart platform <NUM>. Further, the inverted Stewart platform <NUM> is illustrated schematically in <FIG>, but more detailed examples are provided in <FIG>.

Continuing with the illustrated embodiment in <FIG>, the track <NUM> is directly coupled to a mount <NUM> (e.g., bogie). In certain embodiments, the mount <NUM> may use wheels that may secure and roll on the track <NUM>. The mount <NUM> may be coupled to the inverted Stewart platform <NUM> via the above-described extension mechanism <NUM>. The extension mechanism <NUM> may use a scissor lift, actuators (e.g., hydraulic or pneumatic), or any combination thereof to couple the mount <NUM> with the inverted Stewart platform <NUM>. The extension mechanism <NUM> may provide one degree of freedom (e.g., vertical disposition in the direction <NUM>) or more on the ride vehicle <NUM>. For example, as the ride vehicle <NUM> travels along the track <NUM>, the ride vehicle <NUM> may come across a segment of the track <NUM> along which lifting of the ride vehicle <NUM> is desired. Thus, instead of utilizing curvature of the track <NUM> in the direction <NUM> to move the ride vehicle <NUM> along the direction <NUM>, the extension mechanism <NUM> may activate to lift the ride vehicle <NUM> to a suitable vertical position. In this manner, the extension mechanism <NUM> may control the position of the ride vehicle <NUM>, along the direction <NUM>, without building hills or dips in the track <NUM>, saving costs in manufacturing the track <NUM>. Another embodiment of the ride system <NUM> is illustrated in <FIG>, where the inverted Stewart platform <NUM> is coupled directly to the mount <NUM> and/or track <NUM>, and the extension mechanism <NUM> is coupled to the ride vehicle <NUM> between the ride vehicle <NUM> and the inverted Stewart platform <NUM>.

<FIG> is a schematic illustration of a perspective view of an embodiment of the ride system <NUM> of <FIG>, in further detail. As shown in <FIG>, the extension mechanism <NUM> is coupled to an upper platform <NUM> of the inverted Stewart platform <NUM>. Winches <NUM> may be disposed generally along an outer perimeter of the upper platform <NUM> (or radially inward therefrom). The inverted Stewart platform <NUM> includes a set of legs <NUM> (e.g., six legs) which couple the upper platform <NUM> with a lower platform <NUM>. In certain embodiments, the legs <NUM> that extend between the two platforms <NUM>, <NUM> may be cables or ropes that are coupled to the winches <NUM> on the upper platform <NUM>. In this manner, the winches <NUM> may extend and/or retract corresponding legs <NUM> to achieve a desired motion. The winches <NUM> may be communicatively coupled to the controller <NUM>, which controls when the legs <NUM> extend and/or retract by instructing actuation of the winches <NUM>. For example, in certain embodiments, the controller <NUM> may be programmed to activate the winches <NUM> to extend and/or retract the legs <NUM> at specific time intervals (e.g., at specific segments along the track circuit). The controller <NUM> may control the winches <NUM> independently, in pairs, or otherwise, such that the legs <NUM> may be controlled independently, controlled in pairs, or controlled otherwise, respectively. Furthermore, the controller <NUM> may monitor forces imparted on the legs <NUM> of the inverted Stewart platform <NUM> to ensure that the induced motions stay within desired thresholds. It should be noted that, in some embodiments, the winches <NUM> may be coupled to the lower platform <NUM> instead of the upper platform <NUM>, or alternatingly between the upper and lower platforms <NUM>, <NUM>. In yet other embodiments, there may be pairs of winches that couple to one another via a single cord (e.g., cable or rope) to provide redundancy and additional capabilities (e.g., speed of expansion or retraction).

In the illustrated embodiment, the legs <NUM> are coupled to the lower platform <NUM> at attachment points <NUM> (or attachment regions) via fasteners, hooks, welds, another suitable coupling feature, or any combination thereof. The attachment points <NUM> securely couple the legs <NUM> onto the lower platform <NUM>. The lower platform <NUM> is coupled to the ride vehicle <NUM>. Thus, as the winches <NUM> along the top platform <NUM> are actuated to change lengths of the legs <NUM>, the winches <NUM> pull the lower platform <NUM> and the attached ride vehicle <NUM>, via the legs <NUM>, toward the top platform <NUM>. It should be noted that, while the description above refers to three contact regions (e.g., "anchor positions") along each platform, each platform may actually include six contact regions (e.g., anchor positions) grouped in pairs that, where the two contact regions of a given pair are disposed immediately adjacent one another.

The embodiments of the ride system shown in <FIG> enable the inverted Stewart platform <NUM> and the extension mechanism <NUM> to travel along with the ride vehicle <NUM>. In addition, the inverted Stewart platform <NUM> and the extension mechanism <NUM> may be hidden from view of passengers disposed within the ride vehicle <NUM> (e.g., based on a limited field-of-view created by positions of windows <NUM> disposed on the ride vehicle <NUM>). As such, the passengers disposed within the ride vehicle <NUM> may not be able to anticipate when a motion may occur. This may induce unexpected motions to enhance passenger experience. Furthermore, because the inverted Stewart platform <NUM> and the extension mechanism <NUM> travel with the ride vehicle <NUM>, motions may be induced at any portion of the track <NUM> and are not limited to elements disposed on the track <NUM>. This permits greater flexibility in generating motions and sensations and may also save costs in manufacturing the ride system <NUM>, because additional elements (e.g., additional actuators or track segments) that generate motion may be replaced by these features. Furthermore, a size of the track <NUM> may be reduced, since the extension mechanism <NUM> and the inverted Stewart platform <NUM> are utilized to generate certain motions, as opposed to track curvature that would otherwise increase a track footprint. In some embodiments, the illustrated extension mechanism <NUM> and inverted Stewart platform <NUM> may be employed in an exhibit that does not include a ride (e.g., where the track <NUM> and mount <NUM> illustrated in <FIG> are replaced by a fixed or limited-range base). In each of <FIG>, the disclosed inverted Stewart platform, extension mechanism <NUM>, or both are configured to manage reactionary forces associated with movement of the ride vehicle <NUM> during operation of the ride system <NUM>.

In another embodiment of the ride system <NUM>, as shown schematically in <FIG>, instead of the extension mechanism <NUM> of <FIG> (which employs a scissor lift), cables <NUM> may be employed. These cables <NUM> may be part of an actuation system (e.g., configured to extend or retract the cables <NUM> via a winch), or fixed. In either case, operating modes may arise where individual control of each of the cables <NUM>, and/or of the legs of the inverted Stewart platform <NUM>, are desired in response to reactionary forces associated with movement of the ride vehicle <NUM>. For example, if more passengers are positioned at one end of the ride vehicle <NUM> than others, or if operation of the platform assembly <NUM> (e.g., inverted Stewart platform) shifts a weight of the ride vehicle <NUM> during the course of operation, movement of the ride vehicle <NUM> may be at least partially cycle-dependent. That is, the reaction forces caused by movement of the ride vehicle <NUM> may differ from one operating cycle to another, and individual control of the cables <NUM> and/or legs of the platform assembly <NUM> (e.g., inverted Stewart platform) in response to the reactionary forces may enhance a stability of the ride system <NUM>. In such situations, control techniques may then be implemented in a way that manages cycle-dependent reactionary forces via control feedback. For example, the controller <NUM> may receive sensor feedback from sensors <NUM> dispersed about the system <NUM>. The sensors <NUM> may be disposed at the mount <NUM>, on the track <NUM>, at the platform assembly <NUM>, on the ride vehicle <NUM>, or elsewhere. The sensors <NUM> may include torque sensors or other suitable sensors that detect torque of the ride vehicle <NUM>. In some embodiments, the sensors <NUM> may include optical sensors (or other suitable sensors) that detect a position or orientation of the ride vehicle <NUM>, which may be indicative of torque or twisting of the ride vehicle <NUM>. For example, the position or orientation of the ride vehicle <NUM> may be indicative of forces in the system <NUM>.

The controller <NUM> may analyze the sensor feedback from one or more of the sensors <NUM>, and may utilize a torque compensation algorithm to initiate control of tension in the cables <NUM>, and/or to initiate extension/retraction of the legs <NUM> by motors (e.g., associated with the winches <NUM> of <FIG>) or other actuators (e.g., as shown, and described with respect to, <FIG>). In some embodiments, each of the sensors <NUM> may be a part of a corresponding motor or other actuator that controls the cables <NUM> and/or legs <NUM> of the platform assembly <NUM> (e.g., inverted Stewart platform), such that the motors or other actuators control the cables <NUM> and/or legs <NUM> at the source of the detected parameters. In doing so, the cables <NUM> and/or legs <NUM> may be precluded from going slack. In other words, the torque compensation algorithm may monitor the forces in the ride system <NUM> to modulate the torque output of motors or other actuators controlling the movement of the legs <NUM> and/or the cables <NUM> do not go slack, which enhances stability of the ride system <NUM>.

The embodiments illustrated in <FIG> may also enable an improved ability to maintain stability of the ride vehicle <NUM> while the ride vehicle is experiencing external perturbations (e.g., via water jets), which may be employed to guide the ride vehicle <NUM> along a path. Indeed, as noted above, movement of the ride vehicle <NUM> may differ from one operating cycle to another, and in certain cases may depend on external perturbations that are associated or unassociated with the ride system <NUM>. The implementation of torque, tension, and/or other feedback allows for stability of the ride vehicle <NUM> even when the position, orientation, and general motion of the ride vehicle <NUM> is dynamically changing during the course of the ride, or from one operating cycle to another, whether the motion is caused by features of the ride system <NUM> or external features that interact with the ride system <NUM>.

<FIG> is a schematic illustration of an embodiment of an inverted Stewart platform <NUM> similar to those illustrated in the preceding drawings. The inverted Stewart platform <NUM> includes a first platform <NUM> (e.g., upper platform), a second platform <NUM> (e.g., lower platform), and six legs <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> (collectively referred to as "legs <NUM>") extending between the upper platform <NUM> and the lower platform <NUM>. The six legs <NUM> may be retractable and extendable, independently and/or in conjunction with each other, such that one or both of the upper and lower platforms <NUM>, <NUM> may be moved in any one of six degrees of freedom (i.e., direction <NUM>, direction <NUM>, direction <NUM>, roll <NUM>, pitch <NUM>, and yaw <NUM>). In certain embodiments, the lower platform <NUM> may be coupled to, or integral with, the ride vehicle in which multiple passengers are disposed. Accordingly, as the six legs <NUM> are actuated (e.g., retracted/extended), the lower platform <NUM> and the ride vehicle may be moved in any one of the six degrees of freedom. Further, in certain embodiments, the upper platform <NUM> may be coupled to, or integral with, the track of the ride system such that the ride vehicle is located underneath the track. Thus, as the upper platform <NUM> slides along the track of the ride system, the lower platform <NUM> and the corresponding ride vehicle move along the same path. In other embodiments, a reverse arrangement may be employed such that the ride vehicle extends above the track, and the lower platform <NUM> is coupled to the ride vehicle.

In the illustrated embodiment, the upper platform <NUM> includes three contact regions 152a, 152b, 152c (e.g., "anchor positions"), and the lower platform <NUM> includes three other contact regions 154a, 154b, 154c (e.g., anchor positions) that, within the respective upper and lower platforms <NUM>, <NUM>, are circumferentially spaced a substantially equal distance apart from one another along a perimeter of the respective upper and lower platforms <NUM>, <NUM>. As previously described, winches may be disposed at the contact regions 152a, 152b, 152c, at the contact regions 154a, 154b, 154c, or both, and may be configured to extend/retract the legs <NUM> (e.g. via motors of, or coupled to, the winches).

As shown, each contact region 152a, 152b, 152c, 154a, 154b, 154c receives two of the six legs <NUM>. Further, when all six legs <NUM> are of equal length (e.g., such that the upper and lower platforms <NUM>, <NUM> are parallel to each other, as shown), the three contact regions 152a, 152b, 152c of the upper platform <NUM> are generally circumferentially aligned (e.g., aligned along a circumferential direction <NUM>) with the three contact regions 154a, 154b, 154c of the lower platform <NUM>. This may be referred to as a "parallel position" of the inverted Stewart platform <NUM>. Thus, it may be said that, in the parallel position, assuming the platforms <NUM>, <NUM> are of equal size, the contact region 152a is generally aligned underneath contact region 154a, the contact region 152b is generally aligned underneath contact region 154b, and the contact region 152c is generally aligned underneath contact region 154c. The leg <NUM> coupled to contact region 152a extends to contact region 154b, and the leg <NUM> coupled to contact region 152a extends to contact region 154c. The leg <NUM> coupled to contact region 152b extends to contact region 154a, and the leg <NUM> coupled to contact region 152b extends to contact region 154c. The leg <NUM> coupled to contact region 152c extends to contact region 154a, and the leg <NUM> coupled to contact region 152c extends to contact region 154b. Accordingly, in the illustrated embodiment, each of the legs <NUM> extends from an initial contact region to a contact region of the opposing platform that is not directly above or below (i.e., in the same x, y position) the initial contact region.

The configuration of the inverted Stewart platform <NUM> described above decreases an angle <NUM> between each of the legs <NUM> and each of the upper and lower platforms <NUM>, <NUM>, compared to traditional embodiments, even when the legs <NUM> include different lengths (e.g., during operation). The reduction in the angle <NUM> of the legs <NUM> of the inverted Stewart platform <NUM> (e.g., relative to traditional embodiments) may enhance stability of the inverted Stewart platform <NUM> by creating a larger restoring force in the legs <NUM>. For example, the decrease in the angle <NUM> may increase overall stiffness of the inverted Stewart platform <NUM> to reduce undesired movement. Further, while traditional Stewart platform assemblies may include one large platform in order to provide stability, the reduction in the angle <NUM> noted above facilitates stability with smaller platforms. It should be noted that, in some embodiments, the platforms <NUM>, <NUM> may not be of equal size, and that in those embodiments, the contact regions 152a, 152b, and 152c would still align, along the circumferential direction <NUM>, with the contact regions 154a, 154b, and 154c, respectively; however, the contact regions 152a, 152b, and 152c of the upper platform <NUM>, assuming a larger size of the upper platform <NUM>, may not be disposed directly above the contact regions 154a, 154b, 154c of the lower platform <NUM>, but instead may be disposed radially outward therefrom and circumferentially or annularly (e.g., along the direction <NUM>) in alignment therewith.

As noted above, the arrangement illustrated in <FIG> permits a decrease in the angle <NUM> between any given leg <NUM> and the corresponding platform <NUM> or <NUM>, compared with traditional Stewart platforms. In one embodiment, when all legs <NUM>, <NUM><NUM>, <NUM>, <NUM>, <NUM> are of equal length, the angles <NUM> formed between each leg <NUM> and the platform <NUM>, <NUM> are <NUM> degrees or less. The disclosed arrangement creates a compact structure that permits stable movement in multiple degrees of freedom in accordance with present embodiments. As noted above, while traditional Stewart platform assemblies may include large platforms in order to provide stability, the reduction in the angle <NUM> noted above with respect to the disclosed embodiments facilitates stability with smaller platforms.

In the illustrated embodiment of the inverted Stewart platform <NUM>, to facilitate consistent motion and distribution of forces, the legs <NUM> may alternate between being an "outer leg" and an "inner leg. " In other words, if one starts at contact region 152a on the upper platform <NUM> and moves counter-clockwise, the leg <NUM> ("inner leg") of contact region 152a extends toward an inside of the legs <NUM> and <NUM>, and the leg <NUM> ("outer leg") of contact region 152a extends toward an outside of the leg <NUM>. Moving next to contact region 152c, the leg <NUM> ("inner leg") of contact region 152c extends between the legs <NUM> and <NUM>, and the leg <NUM> ("outer leg") of contact region 152c extends outside of the leg <NUM>. Moving next to contact region 152b, the leg <NUM> ("inner leg") extends between the legs <NUM> and <NUM>, and the leg <NUM> ("outer leg") of contact region 152b extends outside of the leg <NUM>. Of course, a similar arrangement, but in reverse, could be employed by swapping each of the outer and inner legs. In other embodiments, different arrangements may be utilized.

<FIG> illustrates an embodiment of the inverted Stewart platform <NUM> of <FIG>, with a different position/orientation of the lower platform <NUM>. As shown in <FIG>, the lower platform <NUM> has been moved such that contact region 154a is farther from the upper platform <NUM>, along the direction <NUM>, than was the case in the "parallel position" described with respect to <FIG>. To achieve this position, the legs <NUM> and <NUM> may be extended via winches <NUM> (and corresponding motors thereof) to lower the contact region 154a in the direction <NUM>. Likewise, the winches <NUM> may be utilized to retract the legs <NUM> and <NUM>. If the legs <NUM> and <NUM> are retracted in length enough, the contact region 154c may move closer to the upper platform <NUM>, along the direction <NUM>, than was the case in the "parallel position" described with respect to <FIG>. In other words, the legs <NUM> may be adjusted to enable the illustrated position, and to maintain stability in the inverted Stewart platform <NUM>. In this positioning, the inverted Stewart platform <NUM> may induce sensations to passengers by moving the ride vehicle. For example, the ride vehicle may be coupled to the lower platform <NUM> and the positioning illustrated in <FIG> may cause the ride vehicle to go in an inclined or declined position. Similar positions can be achieved with respect to the other contact regions, since the inverted Stewart platform <NUM> includes a circular arrangement. Further, repositioning may instructed in a quick sequential order to enhance the sensations. Further still, repositioning may be instructed to manage or compensate for reactionary forces exerted on the system by the ride vehicle coupled to the inverted Stewart platform <NUM>. As such, passengers on the ride vehicle may perceive that the ride vehicle is "flying" or "reacting" to various forces without the use of track curvature to impart certain of the forces, and stability of the system may be controlled in circumstances where the ride vehicle's motion diverges from a desired motion.

<FIG> is a schematic illustration of an embodiment of the inverted Stewart platform <NUM>. As shown in <FIG>, the position of the lower platform <NUM> is further from the upper platform <NUM>, along the direction <NUM>, than is illustrated in <FIG>. In other words, a distance <NUM> between the platforms <NUM>, <NUM> is greater in <FIG> than in <FIG>. This configuration may be produced, for example, via the extension of all of the legs <NUM>, <NUM><NUM>, <NUM>, <NUM>, <NUM> simultaneously. The distance <NUM> may be changed even when the inverted Stewart platform <NUM> is not in the aforementioned parallel position. Of course, in another operating sequence, the platforms <NUM>, <NUM> may be drawn together via retraction of the legs <NUM>. In either sequence, the new position may adjust the height of the ride vehicle (i.e., along the direction <NUM>), which may enhance passenger experience. For example, the ride vehicle may be lowered to be in proximity of an element outside of the ride vehicle (e.g., such as an exhibit or attraction adjacent the ride vehicle). Further, as the ride vehicle is lowered, it may produce sensations to the passengers (i.e., a "falling" sensation) to enhance the ride experience.

As shown in <FIG>, the inverted Stewart platform <NUM> may induce several different motions upon the ride vehicle. As such, features of the track utilized to induce motions on the ride vehicle may be reduced, which may reduce a size and/or cost of the ride system. As previously described, the inverted Stewart platform <NUM> and the extension mechanism (e.g., extension mechanism <NUM> of <FIG>) may work in conjunction to emulate sensations similar or the same as those created by a track, while maintaining stability. For example, the track may no longer include an inclining hill, because the inverted Stewart platform <NUM> may enable tipping (and/or vertical lifting of the ride vehicle <NUM>), in conjunction with vertical motion of the ride vehicle induced by the extension mechanism (e.g., extension mechanism <NUM> of <FIG>). This may reduce the costs of manufacturing the track and ride system as a whole, and may reduce a footprint of the track and the ride system as a whole.

In <FIG>, the upper platform <NUM> and the lower platform <NUM> are shown as circular slabs, but in another embodiment, they may be any suitable shape. Further, the upper platform <NUM> and the lower platform <NUM> may be of different shapes relative to one another. As noted above, in one embodiment, the upper platform <NUM> may couple with the extension mechanism (e.g., extension mechanism <NUM> in <FIG>) or the track (e.g., via an intervening bogie that slides along the track), and the lower platform <NUM> may couple with the ride vehicle. In this embodiment, the ride vehicle may dangle from the track, as shown in <FIG> and <FIG> (i.e., illustrating the ride vehicle <NUM> and the track <NUM>).

<FIG> illustrates another embodiment of a platform assembly <NUM>. The platform assembly <NUM> may include an upper platform <NUM> and a lower platform <NUM>. In this embodiment, the legs <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM> may be extended and/or retracted by actuators <NUM>. As such, the legs may not be coupled to winches or include cables or ropes, although winches may be used in combination with the actuators <NUM>.

To provide a more detailed view of one of the legs <NUM>, <FIG> illustrates an embodiment of the actuator <NUM> that may be used in the platform assembly <NUM>. Shown in the figure, the actuator <NUM> may include a middle segment <NUM> and two leg segments <NUM> coupled to both ends of each middle segment <NUM>. The leg segments <NUM> may be metal, carbon fiber, another suitable material, or any combination thereof to allow for stable coupling with the actuator <NUM>. The middle segment <NUM> may cause the leg segments <NUM> to telescope in and out of the middle segment <NUM> to operate the actuator <NUM> (e.g., to retract or extend, respectively, the corresponding leg).

Additional embodiments of ride systems utilizing the platform assembly and/or extension mechanism(s) are described below. For example, <FIG> is a schematic illustration of an embodiment of a system <NUM> having a cabin <NUM> located atop a base <NUM> and atop an intervening platform assembly <NUM> (e.g., inverted Stewart platform), where the platform assembly <NUM> couples to the cabin <NUM> and the base <NUM>. In this manner, the cabin <NUM> is oriented in a different manner in relation with the track <NUM> than is shown in <FIG>. Windows <NUM> may be positioned or disposed on the cabin <NUM> to enable or block the view from within the cabin <NUM> of certain features, as previously described. The base <NUM> may be a track, or a fixed base associated with an exhibit or show. In some embodiments, the base <NUM> may be an open path through which the cabin <NUM> and corresponding inverted Stewart platform <NUM> may move (e.g., via wheels). It should be noted that the cabin <NUM> may be replaced by a show element in certain embodiments.

<FIG> is a schematic illustration of an embodiment of a system <NUM>, where a cabin <NUM> of the system <NUM> is disposed at a side of a base <NUM> (e.g., in direction <NUM>). Here, a platform assembly <NUM> (e.g., inverted Stewart platform) is located a distance in the direction <NUM> apart from the base <NUM>, and the cabin <NUM> is further located a distance in the direction <NUM> coupled to the platform assembly <NUM>. Similar to <FIG>, windows <NUM> may be disposed on the cabin <NUM> to enable or block the view of certain features from within the cabin <NUM>. As previously described, the base <NUM> may be a track, or a fixed structure. Further, while the cabin <NUM> is shown in the illustrated embodiment, the cabin <NUM> may be replaced by a show element in certain embodiments.

In another embodiment, as shown in <FIG>, a system <NUM> may include a platform assembly <NUM> (e.g., inverted Stewart platform) implemented in a performance show. An upper platform <NUM> of the platform assembly <NUM> may be coupled to a stage <NUM>, and a lower platform <NUM> may be coupled to a stationary element <NUM> (e.g., a ground or the floor beneath the stage <NUM>). Thus, the stage <NUM> may be configured to hold one or more people (or show elements/components), and may be configured to move relative to the stationary element <NUM>. For example, the one or more people may be performing an act and the platform assembly <NUM> may move the stage <NUM> to enhance the performance. In the systems presented in <FIG>, a controller (e.g., the controller <NUM> of <FIG>) may also monitor imparted forces on the respective ride systems (e.g., each of the legs) to ensure stability, similar to the description include above with reference to at least <FIG>.

<FIG> illustrates an embodiment of a method <NUM> for controlling a ride system, in accordance with the present disclosure. The method <NUM> includes receiving (block <NUM>) a signal (e.g., at a controller) instructing a positioning of the platform assembly (or a platform thereof). For example, certain movement of the platform assembly may be desirable in order to cause a ride vehicle coupled to the platform assembly (e.g., to a lower platform of the platform assembly) to move (e.g., roll, pitch, yaw, up, or down). It should be noted that the platform assembly may be an inverted Stewart platform assembly, and that in some embodiments, the ride system may be a stage or other show exhibit in which a stationary base replaces the track.

The method <NUM> also includes extending and/or retracting (block <NUM>), via instruction of motor winches or other actuators by the control, certain of the legs of the platform assembly to cause the platform assembly (or a platform thereof) to move in accordance with the instruction discussed above with respect to block <NUM>. As previously described, movement of the platform assembly may cause a ride vehicle or cabin (or stage, in embodiments relating to shows or exhibits) of the system to move, which may cause reactionary forces on a load path (e.g., extension cables) between the ride vehicle and a track.

The method <NUM> also includes measuring, sensing, or detecting (block <NUM>) reactionary forces (or parameters indicative of forces) in the ride system. For example, as previously described, torque sensors, optical sensors, or other sensors may be used to detect forces (or parameters, such as orientation of the ride vehicle, indicative of forces) in the ride system. The controller may receive the sensor feedback, and determine, based on a torque compensation algorithm, how best to manage the reactionary loads/forces of exerted by movement of the ride vehicle.

The method <NUM> also includes determining (block <NUM>) adjustments to the system via a controller that analyzes the reactionary forces via a torque compensation algorithm. Further, the method <NUM> includes adjusting (block <NUM>) the legs of the platform assembly and/or the extension cables. As previously described, the controller may determine the desired adjustments, and instruct motors or other actuators to adjust a tension in the legs and/or extension cables (e.g., by extending or retracting the legs and/or extension cables), which precludes the legs and/or extension cables from going slack.

The systems and methods described above are configured to enable management of reactionary loads on a ride system by movement of a ride vehicle, where the movement is caused by an extension mechanism and/or platform assembly (e.g., inverted Stewart platform). The extension mechanism and/or platform assembly causes the vehicle to move without utilizing curved track, where curved track would otherwise take a larger space and increase a footprint of the ride system. The feedback control enables the system to monitor reactionary forces caused by motion of the ride vehicle, and adjust the system to maintain stability of the ride system.

Claim 1:
An amusement park ride system (<NUM>, <NUM>), comprising:
a base (<NUM>, <NUM>);
a ride vehicle (<NUM>);
a platform assembly (<NUM>, <NUM>) having a first platform (<NUM>), a second platform (<NUM>), and six legs (<NUM>) extending between the first platform and the second platform, wherein each of the six legs is configured to be actuated and where the length of the corresponding leg is increased or decreased upon actuation, wherein the platform assembly is positioned between the base and the ride vehicle, and wherein the platform assembly is configured to actuate each of the six legs so as to move the first platform relative to the second platform in different configurations based on which of the six legs is actuated, wherein:
the first platform (<NUM>, <NUM>) comprises a first anchor position (152a) to which a first pair of legs (<NUM>, <NUM>) of the six legs (<NUM>) are coupled, a second anchor position (152b) to which a second pair of legs (<NUM>, <NUM>) of the six legs are coupled, and a third anchor position (152c) to which a third pair of legs (<NUM>, <NUM>) of the six legs are coupled
wherein the second platform (<NUM>, <NUM>) comprises a fourth anchor position (154a) to which a first leg (<NUM>) of the second pair of legs and a first leg of the third pair of legs (<NUM>) are coupled, a fifth anchor position (154b) to which a first leg (<NUM>) of the first pair of legs and a second leg (<NUM>) of the third pair of legs are coupled, and a sixth anchor (154c) position to which a second leg (<NUM>) of the first pair of legs and a second leg (<NUM>) of the second pair of legs are coupled; and
wherein the first anchor position is aligned along a circumferential direction with the fourth anchor position when the six legs comprise equal lengths, the second anchor position is aligned along a circumferential direction with the fifth anchor position when the six legs comprise equal lengths, and the third anchor position is aligned along a circumferential direction with the sixth anchor position when the six legs comprise equal lengths; and
an extension mechanism (<NUM>, <NUM>) positioned between the base and the ride vehicle, coupled to the platform assembly, and configured to extend and contract so as to move the ride vehicle away from and toward, respectively, the base of the ride system.