HK1219693B - Trackless vehicle and system for synchronous control of trackless vehicle - Google Patents

Description

Trackless vehicle and system for synchronous control of trackless vehicle

Related applications

This application claims priority to U.S. Provisional Patent Application No. 61/800,257, filed March 15, 2013, the contents of which are incorporated herein by reference in their entirety.

Field of the Invention

The present invention relates to propulsion platforms and ride control systems for use with trackless vehicles, such as in amusement rides. More particularly, the present invention relates to self-propelled and self-guided propulsion platforms configured to transport various types of loads along predetermined paths on a ride, combinations of such platforms, and synchronized operation of such combinations in different operating scenarios.

Background Art

Amusement rides can, and often do, include one or more cars that are used to transport patrons through an enclosed space (i.e., indoors), through an outdoor space, or through a combination of indoor and outdoor spaces. Tracks embedded in or bolted to the surface traversed by the cars have been used to guide the cars through rides both indoors and outdoors.

Although not often thought of this way, amusement rides are designed to tell stories in addition to entertaining and thrilling. These stories are presented to patrons in the form of a show consisting of multiple separate scenes. This show can immerse patrons in an adventure or provide information. The show's storyline typically progresses as patrons in moving vehicles pass through a series of fixed scenes (e.g., multiple locations within the ride). At each location, patrons view a diorama depicting a scene from the story. This diorama may include both moving and non-moving parts; however, the diorama itself is typically fixed in one location. In a typical amusement ride, as patrons move through each diorama to complete the ride, the diorama does not change after each patron views it. Instead, if certain activities are performed in a given first diorama, the ride is timed so that a given patron in a given vehicle remains within the field of view of the first diorama from the start of the activity until its end. At the end of the activity, the patron is transported to the next diorama. A new patron is simultaneously brought into the field of view of the first diorama, and this process is repeated for each subsequent patron.

Patrons passing through fixed sets is an expected standard for today's typical amusement rides. In such traditional rides, patrons move between multiple rooms in vehicles. Each room may include one or more fixed-position sets (or scenes). Additionally or alternatively, patrons move from one set to the next within the same room. In the case of the same room, patrons are typically moved from one set to another after another. Furthermore, in the case of the same room, patrons in one vehicle may (only briefly) see other patrons in other vehicles moving between sets.

A limitation of these methods of storytelling is that each set is fixed in position (even though the set itself may include movement capabilities). Synchronization between vehicles and sets is nonexistent or limited to a macroscopic level. For example, track systems (and some trackless systems) may not be able to continuously move the set, but are instead triggered by the approach of a vehicle to achieve "event synchronization" of the set. That is, once a vehicle reaches a certain point, the set begins to move, but this does not completely synchronize the vehicle and set. However, time-based synchronization between the exact position/motion of the vehicle and the specific movement of the set relative to the exact position/motion of the vehicle is nonexistent. Furthermore, these methods are outdated and uninspiring, as patrons have come to believe that a typical amusement ride involves taking a seat in a vehicle and traveling from room to room or set to set.

U.S. Published Patent Application No. 2010/0053029, published on March 4, 2010 (hereinafter referred to as the '029 invention), describes an amusement ride in which patrons do not move from room to room, but rather use mobile/dynamic platforms equipped with display devices to divide the rooms into multiple areas. The display devices are configured to present video images to patrons in other mobile/dynamic platforms. The display devices can be televisions, liquid crystal displays (LCDs), plasma displays, or systems consisting of video projectors and projection screens. Generally, the display devices of the '029 invention, and particularly their screens, are devices that present two-dimensional images to patrons for their entertainment. However, the two-dimensional images deprive patrons of a sense of reality or the realistic graphic novel feel that patrons desire.

Likewise, the display devices of the '029 invention are utilitarian machines; they take up space but do not add to the excitement of the show; they are not "part of the show" because they do not entertain the patrons on their own. Entertainment is provided by two-dimensional images presented on the screen of the display device.

Because the display device is a three-dimensional object that is not part of the program, the physical structure that forms the display device (e.g., the housing surrounding the device and the bezels around the edges of television screens, LCD displays, plasma displays, and projection screens) must be hidden. Even so, the customer will be aware that the entertainment provided to them is simply a two-dimensional image presented on the screen. This is true regardless of whether the screen is flat or includes simple or complex outlines. This implementation reduces the enjoyment of the program.

Furthermore, the screens of display devices destroy the illusion of infinity or visual depth because the two-dimensional image projected on the screen necessarily has borders visible to the consumer. Even when the borders (or bezels) of the panels making up the screen are reduced to millimeter widths, the two-dimensional projected image necessarily ends at their edges.

Furthermore, the size of many displays, including those described in the '029 invention, is disadvantageous. The size limits the customer's field of view. However, the '029 invention exploits this disadvantage by using clusters of displays on adjacent propulsion platforms to create temporary, movable, or mobile walls. The walls define multiple zones within the ride.

According to the '029 invention, a first group of customers in a first zone can view a first set of two-dimensional projections, while a second group of customers in a second zone (blocked from view by the walls of at least one of the display devices from the other groups) can view a second set of two-dimensional projections. When the two-dimensional projections in each zone are terminated, the platform for each set of display devices is moved to a position that allows the first group of customers to enter the second zone and the second group of customers to enter the third zone. The platform for each set of display devices then returns to its previous position to block the view of one group from the other.

While the method of the '029 invention produces a moving and/or movable wall configuration, it deprives patrons of a sense of reality that can only be provided by the physical presence of three-dimensional objects shaped to represent a portion of the real (or imagined) world. For example, a two-dimensional image of an elephant charging at patrons is unlikely to be as entertaining as a three-dimensional animated model of an elephant charging at patrons from a fixed set in a regular ride. Entertainment presented in three dimensions (by objects occupying three-dimensional space) is desirable.

In contrast, in the example given above, the 3D animated elephant that bursts from the set appears to be real. It is physically present; it moves near and reaches out to the patrons.

An amusement park consists of multiple rides, shops, restaurants, and entertainment venues located within the park. The rides, shops, and other attractions are typically arranged along adjacent streets or paths, along which patrons stroll through the park. During park hours, parades often take place along these streets or paths. These parades typically include a series of live performers traveling along the parade route and a series of parade floats supporting the live performers and/or animated characters. Parade floats can be manually pulled and/or self-propelled, but are typically driven by humans. When the park is not occupied by patrons, maintenance vehicles may be pulled, towed, or driven along the same streets or paths.

The use of automated guided vehicles (AGVs) in amusement parks is becoming increasingly popular. AGVs are believed to have been first used in warehouses, where they continue to be used to transport goods between multiple locations. AGVs have also found utility in large office buildings, where they can be used to transport mail or packages. In each of these exemplary AGV environments, collision avoidance is typically achieved in one or more of the following ways.

In the first approach, an environment, such as a warehouse, is divided into multiple non-overlapping zones. An AGV is prohibited from entering a specific zone if another AGV is already present in that zone. When the AGV approaches or enters a restricted zone, an event alerts the AGV control system and any host monitoring systems about the event, allowing corrective action to be taken. Synchronization of AGV operations is typically event-driven.

In the second approach, the AGV itself is surrounded by a virtual detection field that dynamically changes based on changes in the AGV's speed and direction. The virtual detection field can be implemented, for example, using one or more of radio waves (radar), light waves (lidar), optical elements (object detection systems), or sound waves (sonar). When the AGV approaches an obstacle, such as a wall or shelving unit, the onboard detection area detects the presence of the obstacle and can cause the AGV to stop, for example, until the area is cleared. Again, this is the event that drives the AGV to take corrective action.

In warehouses and even office buildings, AGVs can use both auditory and visual safety systems, such as beeping horns and flashing lights, to announce their presence. However, employing beeping horns and flashing lights in amusement park AGVs would undermine any illusions or fantasies. Furthermore, amusement parks are full of distractions that attract patrons of all ages. Children and even adults can easily accidentally bump into objects or people. In many locations, outdoor parade routes are carefully secured before parade vehicles are allowed onto the route. However, accidents do occur, and distracted individuals or people with disabilities, unaware of the dangers, may wander into the path of a vehicle.

If an operator physically steers and controls the speed of the vehicle, the operator hopes to avoid causing injury to patrons. However, AGVs used in amusement parks or amusement park rides will typically be programmed to implement an "emergency stop" when an object is suddenly detected in the AGV's path or if a malfunction is detected in the AGV. In an emergency stop, the propulsion system stops and the brakes are forcibly applied to bring the AGV to a stop as quickly as possible. However, the forced application of the brakes may cause the AGV to slip. Such an emergency stop causes the AGV to lose synchronization with the environment and requires the amusement ride or parade to be reset and either restarted from the beginning or from a fixed starting point. In other words, such an emergency stop interrupts the progress of the show, which often cannot be restarted seamlessly, and if it can be restarted, some parts of the show may be missed.

What is needed is a system and method that can address one or more of the problems associated with the prior art as described above.

Summary of the Invention

A system is needed that includes multiple self-propelled, self-navigating, trackless propulsion platforms that maintain synchronization with their environment and between the platforms. One or more of the platforms can include a passenger cabin mounted atop a motion base. Alternatively, the passenger cabin can be mounted directly to the propulsion platform. In combination or individually, one or more of the platforms can transport three-dimensional show scenes and/or animated characters or dynamic equipment models throughout a journey.

Furthermore, there is a need for a ride control system that maintains synchronization of multiple trackless propelled platforms with each other, with other movable motion components of a program, and with multimedia presentations that may be part of the program. In a preferred embodiment, synchronization is maintained by the transmission of multiple addressed timing signals, wherein each addressed timing signal is decoded and used only by the platform having an address corresponding to the addressed timing signal.

Additionally, there is a need for a method for controlling the synchronized deceleration and stopping of multiple platforms in an emergency situation that quickly brings the platforms to a stop without any slippage while maintaining synchronization between the platforms, the devices performing the actions in the program, and the multimedia playback synchronized with the position of a specific platform during the program.

Thus, the present invention is directed to a system, apparatus, and method for trackless vehicles that allows for safe, simultaneous operation of a group of vehicles in close proximity, wherein each vehicle in the group is propelled at a speed and direction according to a pre-stored route, but all vehicles in the group are synchronized to a remotely generated variable frequency timing signal or are inherently synchronized based on a master time signal and a series of commands, substantially eliminating one or more problems arising from limitations and disadvantages of the related art. As non-limiting examples, the vehicles may be tour vehicles or parade vehicles.

The objects and advantages of the present invention can be achieved by a system for transporting one of a plurality of loads along a predetermined path in an amusement ride. The system can include a system controller configured to generate and wirelessly broadcast a plurality of timing signals, and a propulsion platform connected to and supporting a load platform. The propulsion platform is configured to synchronously traverse the predetermined path in accordance with at least one of the timing signals, the propulsion platform having a connection point to which one of the plurality of loads can be removably connected. The load platform can include a plurality of seats, support at least one live performer, support at least one three-dimensional animated character, support at least one three-dimensional scenic model, or support a three-dimensional model of a mechanical device.

The objects and advantages of the present invention can be achieved by a system comprising a system controller configured to generate and wirelessly broadcast a plurality of individually addressed timing signals and a plurality of propulsion platforms, each propulsion platform having an address corresponding to at least one of the individually addressed timing signals, wherein each propulsion platform is configured to move in synchronization with its corresponding one of the at least one individually addressed timing signals.

The objects and advantages of the present invention can be achieved by a journey control system that can include a transmitter, a first processor operatively coupled to the transmitter, and a first memory operatively coupled to the first processor, the first memory storing instructions that, when executed by the processor, cause the journey control system to individually transmit decoded timing signals. The system can also include: a plurality of propulsion platforms, each platform having at least three wheels, at least a first wheel of the three wheels configured to support the platform and propel the platform along a surface; an engine coupled to the first wheel of the three wheels; a receiver; a second processor operatively coupled to the receiver and the engine; and a second memory operatively coupled to the second processor, the second memory storing instructions that, when continuously executed by the second processor, cause the engine to continuously drive the wheels in predetermined rotation increments synchronized with the timing signals received from the journey control system.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

FIG1 is a block diagram of a system according to an embodiment of the present invention.

FIG. 2 is a timing diagram illustrating the relationship between a program timing clock and real time according to an embodiment of the present invention.

3 is a hypothetical comparison of the distance traveled on the ground by a vehicle of similar size and weight from the start of an emergency stop to a stop using a prior art method of locking brakes compared to a method according to an embodiment of the invention as described herein.

FIG4 is a flow chart of a method according to an embodiment of the present invention.

DETAILED DESCRIPTION

Reference will now be made in detail to exemplary embodiments of the present invention, which are illustrated in the accompanying drawings.

As used herein, the term amusement facility includes both a ride with no tracks and no ground wiring and an entire amusement park with multiple rides and streets and paths between the rides. Systems of the type described and claimed herein do not require fixed paths of tracks or ground wiring for navigation.

FIG1 is a block diagram of a system according to an embodiment of the present invention. As shown in FIG1 , system 100 includes a control system 102. Control system 102 may include multiple subsystems, including a journey control subsystem 104 and a navigation subsystem 106. Each subsystem may include a memory 10, a processor 12, and an input/output (I/O) device 14, all of which may be operatively connected via a communication bus 16. The I/O device 14 may be operatively connected to an antenna or other wireless transmitting/receiving device 18 (e.g., an infrared transceiver). The memory 10, processor 12, I/O device 14, communication bus 16, antenna 18, and their operational connections are well known and understood in the art.

1 , the system 100 further includes a plurality of automated trackless vehicles 108A, 108B, and 108C (referred to individually or collectively as “propulsion platforms 108 ”). Each of the plurality of propulsion platforms 108 can support any one of the plurality of load platforms 110 .

The payload platforms 110 may take various forms and functions. Thus, the uniform use of the reference numeral 110 in FIG1 is not meant to imply that all propulsion platforms 108 in a given system 100 are limited to being the same type of payload platform.

The payload platforms 110 may include passenger cabins, show venues, animated characters, and/or animated equipment models, or any combination thereof. Furthermore, any one or more payload platforms 110 may be coupled to their corresponding propulsion platforms 108 via a "motion base" 112, although in the non-limiting example, only propulsion platform 108A in FIG1 is shown with a motion base 112. The motion base 112 can be used to move the payload platforms 110 relative to the propulsion platforms 108, for example, to change the orientation of the payload platforms 110 relative to the propulsion platforms 108 in one or any combination of yaw, roll, pitch, and heave. The propulsion platforms 108 themselves are capable of changing orientation, thereby changing the orientation of the coupled payload platforms 110 (with or without the motion base) in one or any combination of yaw, roll, and heave relative to the surface on which the propulsion platforms 108 are traveling. Together, the propulsion platforms 108 and the motion base 112 allow the payload platforms (e.g., passengers in the passenger cabin) to experience six degrees of motion freedom (6DOF) in addition to forward motion. In another embodiment, the motion base 112 can be used to move the load platform 110 in six degrees of freedom, while the propulsion platform 108 is used only to propel the load platform 110 along the path. In yet another embodiment, the propulsion platform 108 can alone move the load platform 110 in six degrees of freedom and simultaneously propel the platform along the path without the motion base. A detailed description of one embodiment of the propulsion platform, motion base, and passenger cabin, their connectors, and their movement relative to one another can be found in U.S. patent application Ser. No. 13/470,244, filed May 11, 2012, which is incorporated herein by reference.

In addition to controlling and ensuring synchronization of the multiple propulsion platforms 108, whether used in an indoor ride or an outdoor parade, the ride control system 104 can control and synchronize the overall operation of the entire show. For example, the ride control system 104 can control the operation of multiple motors, actuators, lighting, audio, and video generation devices, which may be located on a given load platform 110 or at fixed locations within the attraction. For ease of illustration, these various entertainment devices are represented by a block labeled 114. An antenna 18 operably coupled to any device 114 can facilitate wireless communication between the ride control system 104 and the device 114.

The navigation system 106 can be configured to monitor and compare the known position of the propulsion platform 108 with its expected position. If the error between the known and expected positions becomes too large, the navigation system 106 can alert the journey control system 104 to the presence of a fault. However, this is not the only type of fault that can be reported to the journey control system 104.

The journey control system 104 can provide a secondary or backup level of safety. For example, the journey control system 104 can monitor and compare the known position of the propulsion platform 108 with its expected position; however, the comparison and/or determination of the known and expected positions of the propulsion platform 108 can be implemented using various algorithms or methods, and are not limited to those used by the journey control system 104.

In one embodiment, the actual position of the propulsion platform's wheels (e.g., in an XY coordinate system mapped to the journey's terrain) is periodically compared (preferably at a constant frequency, e.g., 30 times per second) to the expected position of the wheels. The expected position of the wheels is based on the number of motion commands executed since the start of travel. In the embodiment described herein, this is possible because the expected position of the wheels is not based on the time elapsed since the start of the journey. Instead, it is based on the sum of the wheel motion commands executed up to a given moment. The wheel motion commands are executed based on a virtual clock, referred to herein as the "show time clock." In embodiments of the present invention, the frequency of the show time clock can vary and even be reduced to zero. Positive and negative limits must be maintained on the rate of change of the show time clock frequency. If the positive rate of change of frequency is too large, the wheels of the propulsion platform synchronized to the show time clock will spin in place. If the negative rate of change of frequency is too large, the wheels of the propulsion platform synchronized to the show time clock will slip. Due to the maximum rate of change of the speed of the drives associated with the wheel motors, limits are also imposed on the rate of change of the show time clock frequency. The minimum and maximum rates of change are driven by the dynamics of the system in which the present invention is deployed and are therefore specific to that system.

Although described as separate subsystems, the journey control subsystem 104 and the navigation subsystem 106 can be implemented as a single system. If implemented as a single system, duplicate processors 10, memory 12, I/O devices 14, and antenna 18 are not required.

Each propulsion platform 108 may include at least one propulsion drive/motor 20, at least one steering drive/motor 22, wherein the at least one propulsion drive/motor 20 and the at least one steering drive/motor 22 are connected to at least one driven and/or steering wheel 24. Each propulsion platform 108 may also include a memory 10, a processor 12, and an input/output (I/O) device 14, all of which are operably connected via a communication bus 16. The I/O device 14 is operably connected to an antenna or other wireless transmission/reception device 18 (e.g., an infrared transceiver). The memory 10, processor 12, I/O device 14, communication bus 16, antenna 18, propulsion drive/motor 20, steering drive/motor 22, and their operative connection are well known and understood in the art.

To achieve versatility and reduce maintenance downtime, each propulsion platform 108 may have at least one connection point, each connection point being fixedly or detachably connected to one of the plurality of load platforms 110 or one of the motion bases 112 .

As described above, the load platform 110 can be configured for a variety of purposes. In one embodiment, the propulsion platform 108, which addresses one or more of the above-described issues, can be configured to permanently or interchangeably receive and support: a passenger cabin (open or closed) comprising a plurality of seats; a stage for live performers (e.g., for use in a parade); a fixed scenic scenery; a mechanically powered scenic scenery; an animated figure; a performance action device; or any combination thereof; or other physically present, three-dimensional entertainment device.

Returning to the journey control subsystem 104, the journey control subsystem 104 can be configured to wirelessly broadcast to and/or communicate with each of the plurality of propulsion platforms 108. Each of the plurality of propulsion platforms 108 can be assigned a unique address to facilitate communication between any one of the propulsion platforms 108 and the journey control system 104. In some embodiments, both multicast and unicast communications between the journey control system 104 and the propulsion platforms 108 can be implemented. In another embodiment, one of the propulsion platforms, such as 108A, can include the journey control subsystem 104 or other circuitry that allows the propulsion platform 108A to control the other propulsion platforms in the plurality of propulsion platforms 108. That is, the plurality of propulsion platforms can be organized into a master/slave configuration, wherein the master propulsion unit, such as 108A, includes the journey control system 104, and the other propulsion platforms are synchronized to the master propulsion platform.

Regardless of its location, the ride control subsystem 104, by virtue of its addressable ability to communicate with individual propulsion platforms 108, can be configured to generate individually addressable program timing signals to the individual propulsion platforms 108. In one embodiment, the program timing signals are broadcast via a variable program timing clock, which is used to synchronize the position of the propulsion platform's wheels on an XY coordinate system mapped to the ride's ground surface or amusement park's streets, as well as the audio, video, motion, and other environmental features of the entire ride/parade system. However, these program timing signals differ from traditional clock signals in that they can vary, whereas traditional clock signals strive to precisely maintain a single frequency. In another embodiment, the program timing signals are data packets that convey the exact time from a master clock so that the processor 10 of the propulsion platform 108 can generate a local program timing clock synchronized to the master clock. In this embodiment, the data packets can also include instructions for modifying the locally generated program timing clock (e.g., decrementing the program timing clock to zero). If such a command is received, the local program timing clock can then be decremented to zero.

In embodiments that broadcast a variable program timing clock, the vehicle and environmental control system 102 and each of the plurality of propulsion platforms 108 and the entertainment device 114 are considered to be "synchronized" systems. That is, if any propulsion platform 108 or entertainment device 114 misses one or more clock pulses from the ride control system 104, those devices will still remain synchronized but will synchronize with a delay relative to other platforms 108 or devices 114 that have not missed one or more clock pulses.

However, in the data packet embodiment, this same platform 108 and device 114 system would be considered asynchronous, and a missed data packet from the journey control system 104 (assuming the time between communication of subsequent data packets is small enough) would not necessarily result in delayed synchronization.

Movement of the propulsion platforms 108 can be achieved according to one embodiment as follows. Each propulsion platform 108 includes a memory 12 storing one or more sets of predetermined instructions. When executed by the processor 10 of the propulsion platform 108, the instructions cause a driver to drive the propulsion and/or steering motors of the wheels of the propulsion platform 108. Each memory may also contain one or more sets of data representing, in part, fine-scale points on an XY coordinate system, wherein the fine-scale points collectively depict a predetermined travel path of a given wheel of the propulsion platform 108 on the XY coordinate system.

In one embodiment, the instructions sequentially execute the movement of the wheels of the propulsion platform 108 based on the stored data. For example, the data may represent absolute or relative coordinates on an XY plane. The XY plane may be mapped to the ground of an indoor or outdoor attraction, or it may be mapped to multiple points along a path along a theme park parade route.

To get from one XY coordinate to the next, the data sequence of the instructions can represent the change in the wheel's directional heading angle relative to the current heading angle, and can also represent the number of degrees of rotation the wheel should rotate along the ground. When the instructions are executed, the wheels will rotate to move toward the specified heading angle and rotate by the specified number of degrees. When the instructions are executed sequentially, the wheels of the propulsion platform 108 move in a step-by-step manner. Because these steps occur rapidly and sequentially, it appears to the patron that the platform's rotation and steering are continuously adjusted. In reality, the step-by-step movement of the wheels causes the platform to move along a predetermined path at a predetermined speed and acceleration. Because the data is executed sequentially, it can be determined with predetermined accuracy that each wheel of each propulsion platform 108 is located in the XY coordinate system at any given moment during the show. This method applies not only to the XY position of the propulsion platform, but also to the audio, video, and motion of the ride/parade vehicle, as well as the environment in which it operates.

2 is a timing diagram illustrating the relationship between a program timing clock and a real-time timing clock 204 according to an embodiment of the present invention. As detailed above, the program timing clock may be broadcast from the ride control system 104 or may be decoded from a data packet sent from the ride control system 104 and then generated locally on each propulsion platform 108 and entertainment device 114.

Trace 1 represents the "real-time clock signal" 204. Trace 1 is provided for comparison purposes only. Propulsion platform 108 according to the embodiments described herein does not need to receive a "real-time clock signal" for navigation. For illustrative purposes only, the "real-time clock signal" 204 is shown as having a frequency of 1 Hz. Accordingly, each rising edge of the "real-time clock signal" 204 represents a one-second period. FIG. 2 illustrates a 10-second period.

Trace 2 represents the program timing clock 202 decoded by a given processor 10 of a given propulsion platform 108. In this example, when the system 100 is operating according to "normal operation," the frequency of the program timing clock 202 is equal to the frequency of the real-time clock signal 204. In other words, the propulsion platform moves to complete the ride, execute turns, and change speeds according to the standard creative design parameters of the ride. Again, it must be noted that this example is presented for illustrative purposes only. The program timing clock 202 does not necessarily have to have the same frequency as the illustrative "real-time" signal.

Trace 3 shows 20 motion commands executed per second. Only the first second of data is shown. In this example, each of the 20 short vertical marks represents one of the 20 sequential commands. Each sequential command results in a change in the wheel's pointing angle and can cause the wheel to rotate a given number of degrees. In this example, a rate of 20 commands per second is used, however, this rate can be varied without departing from the spirit of the present invention.

For ease of illustration and explanation, it will be assumed that at time T = 0, a given wheel of the propulsion platform is at a known position in the XY plane mapped to the journey ground. Between T = 0 and T = 1, the platform moves in a straight line at a constant speed of 20 inches per second. In this simplified example, assuming that 20 sets of data are executed per second, the data for each of the first 20 instructions will cause the propulsion wheel to maintain its current pointing direction and rotate a predetermined number of degrees along the ground. Rotation by the predetermined number of degrees will correspond to 1 inch of travel on the ground. Therefore, in normal operation, at this point in the program between T = 0 and T = 1, the wheels of the propulsion platform are traveling on the ground at 20 inches per second.

Referring to FIG. 1 , if, for example, the ride control system 104 determines that each propulsion platform 108 in the ride must be brought to an emergency stop without losing synchronization with the multimedia presentation and without losing its predetermined and known position on the ground, the ride control system can synchronize the frequencies of the broadcast or decoded program timing clocks addressed to each propulsion platform 108 with each other and with the program timing signals addressed to each device 114 in the ride. If necessary, the program timing clocks can be reduced to zero. This synchronized stop can be accurately referred to as pausing the program.

In addition to the push platform not being where it should be, there are numerous conditions (or "faults") that may cause the show to be paused. These conditions may be established or customized by the operator of the show, however some common situations are that another part of the show has failed and is not resetting or is resetting very slowly, customer loading or unloading is outside of normal parameters, or the push platform is determined to need maintenance. Other conditions include separation between different parts of the show that are not open or appear to be not open, new vehicles are introduced into the system, and the push platform signals an internal fault such as overheating. Likewise, a human operator or observer may trigger a condition that causes a pause when they become aware of something unusual through a monitoring system or through visual inspection. The conditions listed here that may cause a show to be paused are merely exemplary and should not be considered limitations of the invention.

Returning to FIG. 2 , trace 3 shows that if the frequency of all timing signals were reduced by 50 percent, the rotation of the exemplary wheel would be reduced from 20 inches per second to 10 inches per second. To further illustrate the benefit of synchronously reducing the speed of the entire ride, consider the animated elephant's trunk as device 114. For example, the trunk's actuator is also operating at a normal rate of 20 instructions per second. Furthermore, at the same time, the exemplary wheel is normally traveling past the trunk at 20 inches per second, while the trunk is being lifted at 13 inches per second. Due to the synchronous reduction in the program timing signal frequencies for both the wheel and trunk, the wheel now passes the trunk at 10 inches per second, while the trunk is being lifted at only 6.5 inches per second. Furthermore, if the program timing clock associated with the trunk's noise sound track is also synchronously reduced with the wheel and trunk's program timing signals, only 50% of the actual sound normally heard will be heard for one second.

Trace 4 shows that if the frequency of the decoded timing signals for all platforms, program equipment components, and the program's multimedia were further slowed down to one-tenth the normal operating frequency, the travel of the exemplary wheel would be reduced to only two inches of motion at a rate of 2 inches per second. The elephant's trunk would only travel 1.3 inches, and the soundtrack associated with the elephant's trunk would be slowed to 10% of its normal value. In other words, the entire ride would be slowed to only one-tenth of its normal speed because the ride control system synchronized the frequency of all program timing signals from 1 Hz to 0.1 Hz. If the ride control system reduced the frequency of the program timing clock to 0 Hz, all movement and multimedia would stop, but in fact remain synchronized.

For the customer, even though real time continues in the real world (i.e., the customer may have to wait several minutes while the tour staff resolves a malfunction that causes the tour control system to perform an emergency stop), time in the tour's fictional world slows to a stop in a controlled manner.

The ability to synchronize the slowdown of the entire ride, including the ride's propulsion platforms, the ride's entertainment devices 114 (both on mobile platforms and at fixed locations), and the multimedia played during the ride, is a significant advancement over the prior art; particularly because, in one embodiment, synchronization can be accomplished at approximately 20 movements per second.

Prior art vehicles would lock their brakes during an emergency stop. At slow speeds, this would at most cause patrons to jerk in their seats. At higher speeds, locking the brakes could cause the vehicle to skid. Furthermore, even if the multimedia presentation was synchronized to the vehicle's position, a vehicle skidding would cause all synchronization to be lost. Furthermore, because the direction and extent of the skid are not known in advance, suddenly locking the brakes could cause the vehicle to strike another vehicle or object. Controlled, synchronized emergency stops throughout the ride prevent skids and keep every vehicle in the show, along with all equipment and multimedia, fully synchronized.

FIG3 is a hypothetical comparison of the distance traveled on the ground from the start of an emergency stop to a moving stop using a prior art method of locking the brakes compared to a method according to an embodiment of the invention as described herein, for vehicles of comparable size and weight. As shown, at low speeds, locking the brakes does not cause skidding, and the prior art method results in zero travel. However, at a certain threshold speed, when the brakes are locked, the vehicle will begin to skid on the ground. The length of the skid will increase with speed. In contrast, according to the method according to an embodiment of the present invention, it is believed that a controlled stop at or above the skidding threshold speed will result in a shorter travel distance than with the prior art method.

Implementing the invention in the reverse direction, i.e. without stopping, the synchronized motion and multimedia presentation can be controlled to resume the entire ride while the rate of the program timing clock is increased at a given rate to its normal operating frequency.

FIG4 is a flow chart of a method according to an embodiment of the present invention. The method begins at step 400. At step 402, first data for instructions for moving the wheels (orienting and rotating) is obtained. At step 404, a determination is made as to whether the program timing clock allows execution of the wheel movement. If execution is allowed, at step 406, the processor 10 executes the instructions according to the data to move the propulsion and steering actuators. At step 408, a determination is made as to whether any movement data still exists. If movement data still exists, at step 410, the next data in the data sequence is obtained. The method then returns to step 404. If, at step 404, the program timing clock does not allow execution of the wheel movement, the method returns to step 404 until the program timing clock again allows execution of the wheel movement. If, at step 408, it is determined that no movement data still needs to be executed, the method proceeds to step 412 and stops.

Synchronous control of multiple propulsion platforms has significant utility in both indoor and outdoor venues. In the case of outdoor parades, the ride control and navigation systems can operate according to the same or similar principles as those used indoors. Self-guided, trackless propulsion platforms, each carrying a variety of payload platforms or a motion base supporting different payload platforms, can execute the parade's predetermined route. If an onboard detection system detects an obstacle in any of the propulsion platforms' paths, either all platforms, or the platform that detected the object and all platforms associated with it (e.g., in front or behind) can be simultaneously slowed or stopped to allow time for the obstacle to be removed from the platform's path. By individually addressing the propulsion platforms, it is possible to slow down a portion of the multiple platforms. Once the obstacle is cleared, if only a portion of the platforms were slowed or stopped, that same portion can be activated and accelerated, returning them to their original form and spacing for that portion of the parade platform or the indoor venue's ride environment. Object detection (i.e., collision avoidance) is preferable in outdoor venues. However, in indoor environments, while object detection can still be implemented, a simpler collision detection system can be used instead or in conjunction with object detection. This is partly because vehicles (e.g., propulsion platforms) used in indoor environments are equipped with cushioning devices (e.g., bumpers) that can protect the vehicle from damage. A collision detection system does only that, indicating when the propulsion platform has struck another object. While many implementations for such collision detection systems exist, an exemplary implementation would include one or more "ribbon switches" located at an optimal height near the vehicle's bumpers so that an indication is generated when an object strikes the propulsion platform. The collision detection system can also be used in outdoor locations.

In another embodiment, the program timing signals broadcast by the ride control system 104 are associated with the mode or operation of the ride or parade system. Example modes are shown in the table below.

In this embodiment, the program timing signal is based on an association table similar to the one above. This embodiment still produces the same results as the previously described embodiment, except that now, when a fault condition signal is received, it is classified into a fault type and an appropriate mode type. For example, a signal indicating a major error in the above example could be classified as "Fault 1" and would cause the program timing signal (in the form of a broadcast program timing clock or a data packet that generates a locally generated program timing clock) to be ramped from base frequency to zero at the maximum permissible rate. Other conditions would be associated with different timing modes. Furthermore, when a ride/parade must be stopped due to an error or malfunction, this system not only allows synchronization to be maintained, but also allows the system to operate at speeds other than the normal base speed (e.g., 1/2 speed, 2x speed, or 3x speed). This mode control is useful for troubleshooting or system redesign, or alternatively, it could be used in actual entertainment attractions. That is, a ride could be announced and operated at, for example, 2x speed to provide an experience different from normal operation. This mode control would still alter the program timing signal as previously disclosed to modify the speed of the propulsion platform and its associated environmental factors (e.g., entertainment devices 114).

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention. Therefore, the present invention is intended to cover such modifications and variations of the present invention as long as they come within the scope of the appended claims and their equivalents. For example, those skilled in the art will understand that the present invention can be implemented using analog or digital techniques and through the use of hardware, software, or a combination thereof.

Claims (23)

1. A system for transporting a load platform along a predetermined path, characterized in that the system comprises: The system controller is configured to generate and transmit a clock at a variable frequency. A propulsion platform, supporting the load platform, is configured to traverse the predetermined path synchronously according to a variable-frequency clock received from the system controller; and Multiple entertainment devices positioned along the predetermined path operate synchronously according to a variable-frequency clock received from the system controller. 2. The system as claimed in claim 1, wherein the propulsion platform changes the orientation of the load platform in one or any combination of yaw, sway, and undulation. 3. The system as described in claim 2, wherein the system further comprises: A motion base is disposed between the propulsion platform and the load platform. 4. The system as claimed in claim 3, wherein the motion base changes the orientation of the load platform relative to the propulsion platform in one or any combination of yaw, roll, pitch and undulation. 5. The system as claimed in claim 1, wherein the propulsion platform is a trackless vehicle. 6. The system as claimed in claim 1, wherein the propulsion platform further comprises: An object detection device configured to detect objects located in the path of the propulsion platform, and A communication device configured to transmit alarms to the system controller. 7. The system of claim 6, wherein the system controller is further configured to initiate a protocol to reduce the speed of the propulsion platform by reducing the frequency of the variable-frequency clock according to a predetermined rate of change, the propulsion platform moving synchronously according to the variable-frequency clock. 8. The system of claim 1, wherein the propulsion platform includes a connection point, and one of the plurality of load platforms is detachably connected to the connection point, said load platform being configured to: Includes multiple seats; Support at least one live performer; Supports at least one animated 3D character; Support at least one 3D landscape model; or Supports three-dimensional mechanical equipment models. 9. The system of claim 1, wherein the variable frequency clock is associated with an operating mode. 10. The system of claim 3, wherein the motion base includes a connection point to which one of a plurality of load platforms is detachably attached, said load platform being configured to: Includes multiple seats; Support at least one live performer; Supports at least one animated 3D character; Support at least one 3D landscape model; or Supports three-dimensional mechanical equipment models. 11. The system as claimed in claim 1, wherein the propulsion platform is further controlled by an event trigger. 12. A system for amusement rides, characterized in that the system comprises: The system controller is configured to generate and wirelessly broadcast multiple individually addressable variable-frequency clocks; Multiple propulsion platforms, each propulsion platform having an address corresponding to at least one of the multiple individually addressable variable-frequency clocks; Each propulsion platform supports a corresponding load platform and is configured to perform a synchronous motion according to one of the multiple individually addressable variable-frequency clocks; and Multiple entertainment devices positioned along a predetermined path operate synchronously according to a corresponding one of the multiple individually addressable variable-frequency clocks received from the system controller. 13. The system of claim 12, wherein each propulsion platform changes the orientation of its corresponding load platform by one or any combination of yaw, sway, and undulation. 14. The system of claim 13, wherein the system further comprises: A motion base is positioned between each propulsion platform and its corresponding load. 15. The system of claim 14, wherein each motion base changes the orientation of the corresponding load platform relative to the propulsion platform in one or any combination of yaw, roll, pitch and undulation. 16. The system of claim 12, wherein at least one of the plurality of propulsion platforms is a trackless vehicle. 17. The system of claim 12, wherein at least one of the plurality of propulsion platforms further comprises: An object detection device is configured to detect objects in the path of at least one of the plurality of propulsion platforms, and A communication device configured to transmit alarms to the system controller. 18. The system of claim 17, wherein the system controller is further configured to initiate a protocol to reduce the speed of the plurality of propulsion platforms by reducing the frequency of each individually addressed variable-frequency clock according to a predetermined rate of change, wherein the synchronized reduction of the frequency causes the plurality of propulsion platforms to slow down synchronously with each other. 19. The system of claim 12, wherein each propulsion platform includes a connection point, each connection point being detachably connected to one of the plurality of load platforms. The load platform is configured as follows: Includes multiple seats; Support at least one live performer; Supports at least one animated 3D character; Support at least one 3D landscape model; or Supports three-dimensional mechanical equipment models. 20. The system of claim 14, wherein each motion base includes a connection point, each connection point being detachably connected to one of the plurality of load platforms, said load platform being configured to: Includes multiple seats; Support at least one live performer; Supports at least one animated 3D character; Support at least one 3D landscape model; or Supports three-dimensional mechanical equipment models. 21. The system of claim 12, wherein each propulsion platform is further controlled by an event trigger. 22. A system for amusement rides, characterized in that the system comprises: The journey control system includes: Transmitter; A first processor is operatively coupled to the transmitter; A first memory, operatively coupled to the first processor, stores instructions that, when executed by the processor, cause the journey control system to send a individually addressable variable-frequency clock; a plurality of propulsion platforms, each platform comprising: At least three wheels, of which at least the first wheel supports the platform and propels the platform along a surface; An engine, which is connected to the first of the three wheels; Communication receiver; A second processor is operatively coupled to the receiver and the engine; A second memory, operably coupled to the second processor, stores a plurality of instructions that, when executed sequentially by the second processor, cause the engine to continuously drive the wheels in predetermined rotational increments synchronized with a variable-frequency clock received from the journey control system; and Multiple entertainment devices positioned along the predetermined path operate synchronously according to a variable-frequency clock received from the journey control system. 23. The system of claim 22, wherein at least one of the plurality of propulsion platforms is a trackless vehicle.