CN108786122B

CN108786122B - Dark ride vehicle system

Info

Publication number: CN108786122B
Application number: CN201710300133.4A
Authority: CN
Inventors: 刘云川
Original assignee: Beijing Enochview Technology Co ltd
Current assignee: Beijing Enochview Technology Co ltd
Priority date: 2017-05-02
Filing date: 2017-05-02
Publication date: 2020-07-03
Anticipated expiration: 2037-05-02
Also published as: CN108786122A

Abstract

A dark ride vehicle system; the invention has a unique dark riding road curvature detection system, an original electronic map control mode of a dark riding vehicle system, a six-degree-of-freedom riding vehicle motion platform for introducing a wash-out filtering algorithm into the dark riding vehicle system for the first time, a combined riding vehicle traveling system with a road curvature detection mechanism, a servo motor differential riding vehicle driving mechanism and a wheel gas-liquid suspension, and a simple and practical control strategy; the invention is a core device in a comprehensive amusement project which combines three large interactive amusement projects of a special cinema, a live-action amusement and a riding amusement together; the invention comprises the following steps: the device comprises a riding vehicle 01, guide fins 02, a screen 03, a dynamic model 04, audio and video equipment 05 and a vehicle-mounted computer 06.

Description

Dark ride vehicle system

Technical Field

The invention relates to the field of riding type interactive amusement, in particular to a dark riding vehicle system

Background

The current dark ride vehicle system is monotonous, and three large interactive play projects of a special house cinema, live-action entertainment and ride play are not integrated into a large category by means of new science and technology, are definitely divided into a large variety, are popular with people and can be universally existed in play projects of various playgrounds within a period of time.

The passengers of the dark riding vehicle operated in the current amusement market are lack of dynamic body feeling stimulation, and the acceleration duration of the vehicle cabin is very short and basically can not meet the requirements of movies and televisions due to the fact that the height of the dark riding vehicle is generally required to be reduced and the change length of a six-degree-of-freedom length change device is short. The current remedy method is to generate illusion and approximate acceleration feeling by the human body gravity center shift generated by the inclination of the vehicle cabin or the seat, but the actual effect is limited.

The current dark ride is partly two-track riding, which requires a height difference between the inner and outer rails at the curve, a clearance between the outer wheel flange axially and the track laterally, and a vehicle speed, which are functions of the minimum radius of the track curve, the problem with the use of such two-track vehicles for dark rides is that ① the minimum curve radius is larger, especially at higher speeds, the curve radius is larger, and in general, for recreational excitement, performance requirements dictate that the curve speed is faster, passengers feel better centrifugal acceleration, but the larger curve radius requires a larger footprint, which puts stress on construction and land acquisition and cost, which operators do not want to see ② at the curve, the faster the vehicle requires a larger clearance between the outer wheel flange axially and the track.

Part of the current dark ride is the guided fin mode, the so-called single track mode. At present, the mode is divided into three modes of ABC. A. The left driving wheel and the right driving wheel run synchronously and are guided by the constraint of the guide fins to the guide wheels. B. The servo motors of the left and right driving wheels change respective rotating speeds by sensing torque changes to realize differential turning. C. The wheel is deflected by the curvature of the guide fin by means of a mechanical linkage mechanism so as to guide the vehicle to turn. There are major problems with the three dark ride vehicle systems that are currently in practical operation. When the radius of the curve is small, because the rotating speeds of the wheels on the inner side and the outer side of the circle center are different, the rotating speeds of the two wheels are consistent, so that the wheel rim and the ground have large friction, people can see two black marks on the road in the dark riding project, and the two black marks are evidence of the friction between the wheels and the ground. The friction not only reduces the service life of the tire, but also increases the running power of the vehicle, and the wheel positioned at the inner side of the circle center actually plays a role in blocking the running of the vehicle during turning. This additional power loss is taken into account when designing a ride-on vehicle, increasing the drive power. Mode B allows for the riding vehicle system to automatically adjust the differential ratio of the two drives, but has disadvantages. Since the extra moment only occurs after the driving wheel rim rubs against the ground, in practice, such riding vehicles experience a feeling of passengers that the speed is not stable at the curve. In addition, although the driving power is smaller than the driving mode that the rotating speeds of the two driving wheels are consistent when the riding vehicle is designed, the driving power is still larger than the ideal power, and the worse the ground flatness is, the more the power is increased. The riding road is affected by capital construction investment, and generally cannot be very flat, and the riding vehicle cannot run stably due to dust or abandoned objects on the road surface. In the mode C, if the riding vehicle runs accurately according to the curvature of the guide fin, half of the length of the link mechanism needs to be extended to the front of the front wheel, so that the length of the riding vehicle is increased undoubtedly, and the modeling of the riding vehicle is difficult. Thus, the link mechanism of the present mode C for a riding vehicle is retracted between the front and rear axes, which causes the front wheel turning motion to lag behind the actual curvature of the guide fins. For roads with smaller turning radius, the friction between the wheel rim and the ground is still larger, and the extra friction resistance is not greatly reduced. And the set of connecting rod mechanism has more moving parts, thus increasing the workload and the cost of maintenance.

The existing dark riding vehicle system is provided with a plurality of sensors along the road, and the items with higher quality are also provided with bar codes and other images. These all cause the cost to rise, and the field wiring is complicated, and the electromagnetism environment is dirty, and the trouble is easy to take place, and project later stage occupies professional technical staff man-hour etc..

At present, the control strategy and the communication message of the dark ride vehicle system mostly adopt the concept of general industrial control (industrial control). Because the dark ride vehicle system is active around the senses of the human body, unlike electromechanical in nature, the dark ride vehicle system requires a control strategy and message protocol that is tailored to the project itself.

Disclosure of Invention

The invention relates to a comprehensive amusement project which combines three large interactive amusement projects of special cinema, live-action entertainment and riding amusement, and the comprehensive amusement project is provided with a road network for driving riding vehicles, guide fins are arranged on the middle lines of the roads, all or most of the roads are covered for shielding natural light, and a plurality of riding vehicles with passengers run on the roads. The trend shape of the guide fin is memorized in a computer in an electronic map mode and becomes key data of the whole performance control system. In order to reduce the accumulated travel error caused by the relative movement of the wheel rim and the ground, the guide fin does not use a long straight line section as far as possible. There are many video screens, dynamic models, special effect equipment and packing and decoration according to the script requirement on both sides and above the road. The riding vehicle is provided with a cabin, a seat and a safety pressure bar are arranged in the cabin, and an upper opening cabin door is arranged on the cabin wall. A six-degree-of-freedom platform is arranged below the cabin and can complete three rotary motions of lifting, transverse moving, longitudinal moving, yawing, pitching and rolling. The main component of the six-degree-of-freedom platform is six servo electric cylinders, and the space attitude of the cabin is controlled by motion control software compiled according to an optimal washout filtering algorithm. A rotary platform is arranged below the six-degree-of-freedom platform, and the rotary platform adopts a large gear ring structure with bearings so as to reduce the height of a riding vehicle. The rotary platform adds a redundant degree of freedom for six-degree-of-freedom yaw motion. The rotation range of the rotary platform is +/-360 degrees, and the rotary platform can rotate by more than 360 degrees after being provided with a circuit center rotary contact device when in special needs. The rotary platform is driven by a servo motor, so that the human body can be stimulated to feel dynamic by large angular acceleration, and passengers can feel comfortable in rotation by slope acceleration and slope deceleration. Below the rotating platform is a vehicle chassis. Two wheels at the front part of the chassis of the vehicle are driving wheels and are driven by a servo motor, and two wheels at the back part are driven wheels. The two servo motors can enable the vehicle chassis to walk linearly or turn in a differential mode. The front end of the vehicle chassis is provided with a road curvature detection device which detects the curvature of the guide fin in front of the running of the vehicle and indicates the two wheels to drive the servo motor to correct the differential speed ratio. The vehicle chassis is provided with wheels which are suspended by gas and liquid to automatically adjust the pressure of the wheels to the ground, so that the pressure balance of four wheels is kept, the comfort of passengers is kept, and the differential ratio error of two driving wheels due to the slippage is avoided. A plurality of riding vehicles are arranged on the travelling line to travel according to the scale and performance of dark riding. The guide fins prefabricate the running routes of the riding vehicles, each riding vehicle is endowed with a time parameter when starting, and the time dimension and the geometric space dimension of the running routes generate an electronic map. When the riding vehicle runs near a screen, the electronic map mark triggers the video and audio equipment to play video and audio data. Under the control of the overall performance control computer system of the amusement project, the riding vehicles interact with the movie and television plots. The riding vehicle has six-freedom-degree motion, the chassis rotates, and the online running mechanism acts, so that the motions all participate in interaction with the movie and the television. The interaction has accurate position control, speed control and acceleration control. On the left, right and front sides of the riding vehicle in the traveling direction, there are sometimes many dynamic models such as machine cartoons deformed by strange animals. When the riding vehicle runs to the vicinity of each dynamic model, the electronic map position data triggers the dynamic model to act. Under the control of the whole performance control computer system, the riding vehicle interacts with the dynamic model with sound, light, shape, position, humidity, water flow, water mist, cold air, hot air, smell and the like. The specific vehicle running operation and the vehicle body movement operation are controlled by a strategy prestored by the vehicle-mounted computer. When the electronic map instructs the riding vehicle to stop at a performance position, the rotating vehicle is opposite to or laterally opposite to the performance scene, the gas-liquid suspension hydraulic valve of the wheel is closed, the height of the wheel opposite to the ground is fixed, the chassis is kept not to generate vertical elastic vibration along with the performance action of the vehicle, and then the chassis moves along with a movie or a model or a special effect or an interactive device according to a six-degree-of-freedom platform of the scenario vehicle. After the performance at this location is completed, the vehicle is driven to the next performance location. When the vehicle is running, the carriage can still rotate and move in six degrees of freedom according to the arrangement of performances according to the acousto-optic change of scenery along the way. The scanned data of the road curvature detecting device is compared with the electronic map on the vehicle-mounted computer to generate a local time, the local time is written into a message and is reported to the computer of the amusement project center through a communication link, and the center computer knows the position of the vehicle at the moment through the local time.

After the installation of the guide fins on the road of the dark ride vehicle system is completed, the ride vehicle equipped with the road curvature detection system is run once on the road and the computer remembers the shape of the entire road. Or the direction data of the center line of the guide fin of the design drawing can be directly written into the computer to obtain the spatial geometric part of the road direction. The central line of the guide fin can be 2-dimensional or 3-dimensional, and the dark riding project road is not only on a plane. When the riding vehicle runs in an actual performance, the actual road curvature value detected by the road curvature detection device is continuously compared with the electronic map by the computer, and the instantaneous on-track position of the riding vehicle can be continuously obtained. With the ride vehicle's instantaneous on-track position, the attraction center control computer can issue commands in the form of synchronized time to trigger and coordinate the performance steps. In general, there are many on-track ride vehicles, and the electronic map of each vehicle is identical in terms of static geometry, but in practice, the 2-dimensional or 3-dimensional geometric map of each vehicle also incorporates time dimensions that are unique to each vehicle and different from one another due to the different instantaneous on-line positions of each ride vehicle. If the Z-axis of a 2-dimensional geometric map is considered to be Z0, then the map discussed above should be called a dark ride vehicle system 4-dimensional electronic map. Since the starting time of the rail riding vehicles from the starting point is prior and then always separated from each other, the 4-dimensional electronic map of each riding vehicle is different. In addition to the above, the 4-dimensional electronic map conveniently applies an acceleration and deceleration strategy to the ride vehicle entry and exit show locations. The 4-dimensional electronic map effectively keeps the distance between vehicles and prevents various faults caused by the distance between vehicles. The 4-dimensional electronic map accurately maintains the timing and rhythm of the performance. The 4-dimensional electronic map of the dark ride vehicle may report the instant position of each on-line ride vehicle directly to the project center control computer without having to arrange additional on-track ride vehicle position detection systems. The 4-dimensional electronic map enables the whole operation system of the dark riding vehicle to control the whole performance of the project, and can smoothly carry out synchronous control.

The invention introduces the washout filtering algorithm into a six-degree-of-freedom ride vehicle motion platform of a dark ride vehicle system for the first time. A six-degree-of-freedom platform is arranged between the passenger cabin of the riding vehicle and the turntable, and can finish three linear motions of lifting, traversing, longitudinally moving and yawing, pitching and rolling. The main component of the six-degree-of-freedom platform is six servo electric cylinders, and the space attitude of the cabin is controlled by motion control software compiled according to an optimal washout filtering algorithm. The continuous acceleration body feeling of the riding vehicle passenger is realized by 'stealing' the stretching amount of the servo electric cylinder under the acceleration threshold value lower than the human body perception. The actual calculation is carried out according to the head vestibule position of the average height of Chinese men, and the factors that the human body senses different thresholds of the acceleration in front, back, left and right directions and the like are considered. The invention introduces the mathematical method of the optimal washout filtering algorithm, namely a control theory mathematical method, into a six-degree-of-freedom platform control software algorithm of a riding vehicle for the first time in the same industry.

The invention relates to a combined system of a road curvature detection mechanism and a servo motor differential riding vehicle driving mechanism, wherein two front wheels of a chassis of a riding vehicle are driving wheels, the two rear wheels are driven wheels, the two servo motors can enable the chassis of the vehicle to walk linearly and turn in a differential mode, a road curvature detection device is arranged at the front end of the chassis of the riding vehicle, the differential ratio of the driving wheels of the vehicle is corrected instantly, a high-precision angle sensor is arranged on the central line of the front end of the chassis of the riding vehicle, a detection rod is arranged on a rotating shaft of the angle sensor, the detection rod extends forwards continuously, a pair of rollers is arranged at the front end of the detection rod, the two rollers clamp a guide fin, if the vehicle runs on a straight line, the included angle between the central line of the detection rod and the central line of the chassis of the vehicle is 0, the angle sensor senses 0 and informs a computer at the moment, the computer obtains a calculation result that a road ahead is a straight line, the differential rod instructs the left servo motor and the right servo motor to run synchronously, if a curve appears in front, the central line of the chassis of the detection rod and the chassis of the vehicle, the vehicle is β, the angle sensor senses β and informs the computer, the computer according to obtain a value in front of a road surface curve, the curve is calculated by a mathematical pressure of the mathematical suspension curve, the curve of the road suspension curve, the road suspension curve is calculated by a mathematical model, the curve is calculated by a mathematical model, the model of the.

The control strategy for a dark ride vehicle system of the present invention. The dark ride vehicle system does not require numerous position sensors along the way to know the specific position of the vehicle. The vehicle only receives the start and end position signals, the clock, and the interrupt signal from the show control center computer. The communication is simple and fast. The vehicle position is represented by a clock and the value detected by the curvature of the computer returned to the performance control center is not only the basis of the driving route, but also the scanning data of the road curvature detecting device is compared with the electronic map on the vehicle-mounted computer according to the change rule of the data to generate a local time, the local time is written into a message and is reported to the computer of the amusement item center through a communication link, and the central computer knows the vehicle position at the moment through the local time. The riding vehicle is pre-downloaded to the vehicle-mounted computer along with the movement of the scenario (including vehicle chassis rotation and six-degree-of-freedom platform movement) in each performance scene. The playing frame of the video program contains time codes (time stamps), the action command of the machine model, the special time sequence command, the command of the light modulation station, the sound equipment and the like all contain time codes. The riding vehicle curvature detection device scans the guide fins, and the angle signals are processed by the vehicle-mounted computer and then compared with an electronic map in the vehicle-mounted computer. The electronic map of each vehicle, in addition to the values of the spatial geometrical points, adds a one-dimensional time variable to each point. The vehicle-mounted computer only needs to write the instantaneous time value of which point on the electronic map into a message and upload the message to the project center control computer, and the central computer knows the instantaneous position of the vehicle. The central computer sends the message and only sends the time code, and the riding vehicle system executes the pre-stored action command corresponding to each time. The central computer issues time codes continuously, the riding vehicle can move continuously, and continuous follow-up of the vehicle and the film and television model special effect sound is formed. In the writing protocol of the time code, some times are not present in the electronic map, and they represent additional instructions, such as various types of interrupts. The clocks issued by the main computer are uniform, but the interpretation of the clocks by each vehicle is different.

The invention is particularly suitable for the riding vehicle system with the most kinds of amusement items, the action of the vehicle body not only responds to audio, video and television, but also responds to the special effect of the model plane, and a plurality of game interest hotspots for attracting ticket purchasing are provided. The unique curvature detection control differential turning riding vehicle is particularly suitable for turning with small curvature, which adds to the wonderful of games. The rich dynamic simulation effect of the vehicle is particularly outstanding, and the vehicle has particularly strong expressive force on the storyline of the script. The vehicle-mounted computer introduces the optimal washout filtering algorithm into six-degree-of-freedom chassis motion control software programming for the first time in the amusement industry, so that passengers can obtain continuous acceleration body feeling. The air-liquid suspension system of the chassis wheels makes the riding vehicle to run most smoothly and comfortably in the same industry. The operator's individual ticket price is high.

Due to the unique performance of the road curvature detection and servo differential drive system, the riding vehicle is particularly suitable for a small-curvature turning radius, longer performance lines can be arranged in a field with the same area, the riding vehicle can be arranged in more than one longer performance line, and more passengers can be accommodated in a single field. The operator's box office is high.

The present invention is realized by accurate front curvature detection and control of constantly changing differential ratio when riding a curve of a vehicle, so that the abrasion of wheels is small, a vehicle chassis is not stressed by transverse force, and parts are not easy to damage. Therefore, the failure rate is low, and the maintenance cost is low.

The invention is realized by the continuously variable differential ratio which is accurately detected and controlled by the front curvature when riding a curve of a vehicle, and has the effects of obviously reducing the power of a driving motor, further reducing the manufacturing cost and saving electric energy compared with the synchronous hard turning of two driving wheels which only depend on guide fins and the differential turning of two servo driving wheels which depend on torque change to control the rotating speed.

The invention is a comprehensive amusement project which combines three large interactive amusement projects of special cinema theatre, live-action amusement and riding amusement, is a dark riding vehicle system with the best performance effect under the same cost, and is a main mode of the dark riding vehicle system for a period of time in the future.

The single-rail differential dark riding vehicle in the same industry has higher requirement on the flatness of the ground, and the hydraulic suspension of the wheels of the riding vehicle has lower requirement on the flatness of the ground, so that the ground infrastructure cost is reduced.

The present invention provides position control, position sensing, and position response for a dark ride vehicle system that does not rely on a large number of sensors or image recognition devices, etc. located along the road. The dark ride vehicle system of the present invention has an electronic map with all responses associated with the electronic map. This eliminates a large number of electronic components. Besides the first investment saving, the later maintenance cost is also reduced.

Because the main calculation work of the dark riding vehicle is completed by the vehicle-mounted computer, the communication between the vehicle and the amusement item center control system is very simple. The communication need only exchange clocks and interrupts. The clock message format is simple, so the software cost of the dark ride vehicle system on the wireless network is extremely low.

The 4-dimensional electronic map of the dark ride vehicle of the present invention conveniently applies an acceleration and deceleration strategy to the ride vehicle entry and exit show locations. The electronic map effectively keeps the distance between vehicles and prevents various faults caused by the distance between vehicles. The 4-dimensional electronic map accurately maintains the timing and rhythm of the performance. Brings great convenience to the field management of operators. Avoiding confusion and reducing field service personnel have potential economic benefits.

The 4-dimensional electronic map of the dark ride vehicle can directly report the instant positions of all the on-line ride vehicles to a project center control computer without arranging an additional detection system.

After the project is put into operation, the control software is required to be correspondingly changed due to the change of the film and television, the change of the action, the change of the scene, the change of the special effect and the like caused by the change of the script, and the control strategy of the dark riding vehicle system is the simplest of the current similar systems. Its logic is most easily understood since it is very easy to change. Thus, the later cost and the operation cost of the project are reduced.

Drawings

The details of the embodiments and the advantages thereof are set forth in the accompanying drawings;

FIG. 1 is a top view of a riding vehicle road curvature detection and arc measurement system according to an embodiment of the present invention;

FIG. 2 is a schematic illustration of a chassis differential drive for a riding vehicle according to an embodiment of the present invention:

FIG. 3 is an isometric view of a dark ride vehicle system, according to an embodiment of the present invention:

FIG. 4 is an isometric view of a ride-on vehicle chassis according to an embodiment of the present invention;

FIG. 5 is an isometric view of a turntable + six degree of freedom platform of a riding vehicle in accordance with an embodiment of the present invention;

FIG. 6 is an isometric view of a dark ride vehicle according to an embodiment of the present invention;

Detailed Description

FIG. 1 is a top view of a riding vehicle road curvature detection and arc measurement system according to an embodiment of the present invention. The dark ride vehicle system has a high precision angle sensor 13 mounted on the front end of the centerline 29 of the ride vehicle chassis 19. A sensing rod 08 is mounted on the shaft of the angle sensor 13. The detection rod extends forwards. The front end of the detection rod 08 is provided with a pair of rollers 07, and the guide fin 02 is clamped by the two rollers. The short-range line connecting the axes of the two rollers to the axis of the oscillating bar of the angle sensor is L. If the vehicle runs on a straight line, the included angle B between the central line of the detection rod and the central line of the vehicle chassis is 0 degree, at the moment, the angle sensor senses the angle of 0 degree and informs the computer, the computer obtains a calculation result that the road in front is a straight line, and the left servo motor and the right servo motor of the vehicle chassis are instructed to run synchronously. If a curve appears in front, the included angle B between the central line of the detecting rod and the central line of the vehicle chassis is theta degrees, at the moment, the angle sensor senses the theta degree angle and informs a computer, the computer obtains that the road in front is the curve, the curvature radius of the curve is calculated according to the theta degree value, and the calculation formula is as follows:

real-time curve curvature radius data detected by the road curvature detection system are sent to a vehicle-mounted computer and become important data of a control system. The two wheels 15 at the front of the vehicle body are driving wheels and are driven by a servo motor 14. The servo motor 14 is equipped with encoders which record the length of the curve traveled by the inner and outer drive wheels of the guide fin 06, respectively. The vehicle-mounted computer is internally provided with a prefabricated 4-dimensional electronic map. The vehicle passes through a straight road or a standard circular arc, only the length of the curve changes, and the curvature of the road does not change. When the curvature of the road of the riding vehicle changes again, the vehicle-mounted computer compares the data with the 4-dimensional electronic map, if the curvature of the road does not accord with the data corresponding to the curve length which is already driven, the curvature data of the road takes precedence, the curve length is corrected into the prestored data of the 4-dimensional electronic map, and therefore the accumulated error of the curve length is avoided. The two sets of data of the road curvature and the curve length can describe the running track of the riding vehicle, and the 4-dimensional electronic map is formed by adding a time dimension. Fig. 1 is plotted when Z is set to 0 in an x.y.z.3-dimensional geometric space, i.e., a planar road, which has only one angular variable. Therefore, the calculation formula is clear at a glance mainly for the sake of concise and clear graphs. In actual dark riding projects, the road needs to be up and down, or the road needs to be multi-layer. That is, it has 2 orthogonal angular variables, one in the XY plane and one in the YZ or XZ plane.

FIG. 2 is a schematic illustration of a chassis differential drive for a riding vehicle according to an embodiment of the present invention. The two wheels 15 at the front of the chassis of the riding vehicle are driving wheels and are driven by a servo motor 14. The two driving wheels are not coaxially connected, the two servo motors of the vehicle synchronously rotate in a straight line walking section, and the synchronous rotation is theoretically synchronous. In actual engineering, a curvature detection system detects whether a connecting line of the axle centers of two driving wheels is vertical to a guide fin, and after deviation occurs, a vehicle-mounted computer immediately calculates and adjusts the rotating speed difference of the two motors to recover the vertical posture. The synchronous operation of the two driving servo motors is dynamic balance, and the rotation speed difference is always followed with a road curvature detection system. At the bend, the two driving servo motors realize turning by means of the rotation speed difference. The calculation formula is as follows:

wherein i represents a differential ratio; r-radius of curvature of road; h-1/2 track

FIG. 3 is an isometric view of a dark ride vehicle system according to an embodiment of the present invention.

The dark ride has a road network with a bending curve or a possible up-and-down fluctuation, and guide fins 02 are laid along the center line of the road along the road trend. The orientation of the guide fins defines the path of the ride vehicle 01. A plurality of vehicles are simultaneously on-line on the road at intervals. The riding vehicle is driven by two servo motors to control the acceleration, speed and rotating speed to turn differentially. The riding vehicle is provided with a turntable which is in meshing transmission by a gear ring driven by a servo motor, the angular acceleration and the angular speed can be controlled, and a contact body can rotate within +/-360 degrees without being provided with a central rotary circuit. The contact body of the central rotary circuit can rotate at +/-infinity. The riding vehicle has a six-freedom-degree motion platform and can complete pitching, yawing, rolling, lifting, transverse moving and longitudinal moving actions. The ride vehicle has an on-board computer 06, and the on-board computer 06 is in data communication with the entire attraction control center 00. During the driving process of the dark riding vehicle, the vehicle-mounted road curvature detection system and the encoder of the vehicle driving servo motor report road condition data to the vehicle-mounted computer, and the vehicle-mounted computer compares the road condition data with a 4-dimensional electronic map stored in the vehicle-mounted computer to obtain a 4-dimensional space point representing the instant position of the vehicle. The time dimension of the 4-dimensional space is the relative time of the vehicle itself. The on-board computer reports its relative time to the attraction control center. The attraction control center obtains the relative time of the vehicle equal to knowing the on-track position of the vehicle and its speed. When the relative time of the vehicle obtained by the amusement item control center is a set value, the central computer sends instructions to the movie 03, the sound 05, the light 05, the model 04, the special model 04 and the other model 04. The attraction control center issues a uniform time code to all online vehicles as an absolute clock for all vehicles. The vehicle computer receives the absolute clock and knows whether the vehicle is in a leading or lagging position at the moment. The vehicle-mounted computer controls the equipment of vehicle speed, turning, rotation, six-degree-of-freedom motion and passenger interaction according to the 4-dimensional electronic map of the vehicle, the absolute time of a sensor and a control center of the vehicle. The absolute time clock is programmed by the amusement ride control centre computer on the basis of the play of the show and the real time status of the entire project, for example, when the control centre considers that the show should be paused, it will continuously issue a same time code, and the motion of the vehicle corresponding to this absolute time repeatedly equals to stopping at a certain motion position. The riding vehicle can run, the turntable rotates and the six-freedom-degree motion can be carried out simultaneously.

Fig. 4 is an isometric view of a ride-on vehicle chassis according to an embodiment of the present invention. The riding vehicle chassis body is an axle frame 19. The bridge frame is a metal structural member. A pair of drive wheels 15 are disposed at the forward end of the axle frame and a pair of driven wheels 12 are disposed at the rearward end of the axle frame. The drive wheels are driven by a servo motor 14 with a reducer. The driving wheel servo motor is provided with an encoder. The two driving wheel servo motors are respectively and independently controlled, and can be operated synchronously or in a differential mode. The driving wheel servo motor is provided with a brake. The brake brakes the drive wheels when parking is required at waiting and show locations and when an abnormal event is necessary. The driving wheel, the driven wheel and the bridge frame are provided with pneumatic-hydraulic suspension devices. The gas-liquid suspension device consists of a crank throw 16 and a gas-liquid cylinder 10. To prevent lateral movement of the vehicle chassis, a pair of anti-lateral movement wheels 20 are mounted on the front and rear of the chassis. An angle sensor 13 is arranged at the front end of the bridge frame, and a detection rod 08 is arranged on a central shaft of the angle sensor. The front end of the detection rod is provided with a pair of rollers 07, and the guide fin 02 is clamped by the two rollers. The foremost end of the bridge frame is a bumper. The center of the axle frame is provided with a large gear ring 11. The large gear ring is a gear ring bearing integrated structure, and the gear ring can rotate relative to the bridge frame. A turntable driving servo motor 18 with a speed reducer and an encoder is arranged on the axle frame, an output shaft of the speed reducer is provided with a pinion 17, and the pinion is meshed with the bull gear to drive the bull gear to rotate. The vehicle bridge frame is also provided with a vehicle computer 06. The whole vehicle is provided with 10 servo motors, other electromagnetic valves and an unlocking electromagnet of a safety pressure bar, and control devices of the servo motors and the other electromagnetic valves are arranged on a vehicle bridge frame. In the initial design and construction process of the dark riding road, the trend of the guide fin is a continuous curve, and the jump of the curvature is not allowed.

Fig. 5 is a riding vehicle turntable top plate 24 attachment in accordance with an embodiment of the present invention.

FIG. 6 is an isometric view of a dark ride vehicle according to an embodiment of the present invention. The riding vehicle cabin is fixed with the top plate of the six-freedom-degree platform. The cabin is composed of a cabin main body, a safety pressure bar 26, a seat 27 and an upper opening type vehicle door 28.

The above description is only an example of the present invention, and is illustrative, and not intended to limit the scope of the present invention. All the equivalent structures or equivalent processes performed by using the contents of the specification and the drawings of the invention, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention. Variations and modifications of the embodiments disclosed herein are possible, and alternate and equivalent various components of the embodiments will be apparent to those of ordinary skill in the art. The embodiments of the invention described above are intended to be exemplary only. It will be clear to those skilled in the art that the present invention may be embodied in other forms, structures, arrangements, proportions, materials, and components, without departing from the spirit or essential characteristics thereof. Various modifications may be made in the details of these embodiments, all within the scope of the invention.

Claims

1. A hidden riding vehicle system features that it has a road network for running vehicles, a road guide fin for running vehicles is arranged in the middle line of road, the road has a cover for shielding natural light, several riding vehicles with passengers run on road, the running path of said guide fin is memorized in computer and control computer of project center in 4D mode, and is used as key data of whole performance control system, there are several video screens at both sides and above road, dynamic model, special effect equipment and package and decoration according to requirement, the riding vehicle has cabin with seat and safety pressing bar, cabin has cabin door, platform with six degrees of freedom is under the cabin, three linear motions, yaw, pitch and roll three rotational motions are calculated, the main parts of platform with six servo electric cylinders are used to control the space posture of cabin according to optimal washing algorithm, the software controls the motion control software, the platform with six degrees of freedom is used to complete lifting, translation, three linear motions, yaw and roll three rotational motions are used as the special effect control platform, the special effect motion detection platform, the platform is a special effect motion detection platform, the platform with a special effect motion detection device is installed under the platform, the platform is equipped with a special effect control platform, the platform is equipped with a special effect control device, the platform is a special effect control system, the platform is used for detecting the platform for detecting vehicles, the platform for detecting the vehicle, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the vehicles, the platform for detecting the platform.

2. A dark riding road curvature detection system is characterized in that the curvature of a curve ahead is detected in real time by detecting the angle change of an included angle between a vehicle body and a detection moving rod, and a vehicle traveling guide fin is laid along the center line of a driving road of the dark riding vehicle system; a high-precision angle sensor is arranged on the central line of the front end of the chassis of the dark riding vehicle; a rotating shaft of the angle sensor is provided with a detecting rod; the front end of the detection rod is provided with a pair of rollers, and the guide fins are tightly clamped by the two rollers; the included angle between the line segment from the center point of the axes of the two rollers to the axis of the swing rod of the angle sensor and the central line of the chassis of the vehicle body can change along with the bending of the guide fin in front of the vehicle road, and the angle value of the included angle is measured by the angle sensor at any time and is transmitted to the vehicle-mounted computer; the curvature data of the road guide fin obtained by the detection of the road curvature detection device is the operation basis of turning of the differential speed vehicle driving system, is the time sequence basis of various performances, is the monitoring basis of the position of the vehicle on the rail and is the original basis of the dispatching of the master control room; the road curvature detection system is used on a 2-dimensional plane, so that the road curvature detection system only has one angle variable and is suitable for projects of dark riding projects, wherein the roads are built on the plane; the road curvature detection system is used in a 3-dimensional space, so that the system has 2 orthogonal angle variables and is suitable for the rugged or multi-layer running projects of a dark riding project road;

and calculating the curvature radius of the curve according to a line segment L from the central point of the axis connecting line of the two rollers to the axis of the swing rod of the angle sensor and an included angle β between the central line of the detecting rod and the central line of the chassis of the vehicle.

3. A4-dimensional electronic map of a dark ride vehicle system, wherein a ride vehicle equipped with a road curvature detection system travels over a course once, and a computer remembers shape detection data for the entire road; directly writing the data of the central line trend of the road guide fin of the design drawing into a computer to obtain a spatial geometric part of the road trend; when the riding vehicle runs in an actual performance, the actual road curvature value detected by the road curvature detection device is continuously compared with the electronic map by the computer, and the instantaneous on-track position of the riding vehicle can be continuously obtained; with the instant on-track position of the riding vehicle, the amusement item center control computer can issue instructions in a synchronous time mode to trigger and coordinate the performance steps; the on-track riding vehicles comprise a plurality of on-track riding vehicles, and because the on-track positions of each riding vehicle are different at the same time, the electronic map adds the time dimensions which only belong to each vehicle and are different from each other to the 3-dimensional geometric map of each vehicle according to the performance running sequence, thereby forming a 4-dimensional electronic map of the dark riding vehicle system;

during the performance operation of the vehicle, the vehicle-mounted computer continuously compares the scanning data obtained by the road curvature detection device with the 4-dimensional electronic map to obtain the actual instantaneous on-orbit position of the specific vehicle on the 4-dimensional electronic map, and as the point position coordinates in the 4-dimensional electronic map are composed of the 3-dimensional geometric coordinates of the position point and the uniquely corresponding time coordinates, the vehicle-mounted computer control system extracts the unique time coordinates in the 4-dimensional coordinates of the position point as clock information of local time to write in a message, and reports the message to the amusement item center computer through a communication link, and the center computer knows the specific geometric position of each vehicle in the 4-dimensional electronic map at the moment through the local time of the unique time coordinates of the vehicle; the vehicle receives a starting position signal, an end position signal, clock information, and an interrupt signal from a performance control center computer;

therefore, the 4-dimensional electronic map enables the whole operation system of the dark riding vehicle to control the whole performance of the project, and can smoothly carry out synchronous control;

the road curvature detection system comprises a road curvature detection device arranged at the front end of a vehicle chassis, wherein the road curvature detection device is used for instantly guiding a vehicle driving wheel to correct a differential speed ratio at any time, a high-precision angle sensor is arranged on a central line of the front end of the vehicle chassis, a detection rod is arranged on a rotating shaft of the angle sensor and extends forwards, a pair of rollers is arranged at the front end of the detection rod, the two rollers tightly clamp a road guide fin, and the road curvature detection device calculates the curvature radius of a curve according to the length L from the central point of the axis connecting line of the two rollers at the front end of the detection rod to the axis of a swing rod of the angle sensor and the included angle β between the central line of the.

4. A six-degree-of-freedom riding vehicle motion platform for introducing a wash-out filtering algorithm into a dark riding vehicle system is characterized in that the six-degree-of-freedom riding vehicle motion platform is arranged between a cabin and a turntable of a riding vehicle and used for completing three rotary motions of lifting, transverse moving, longitudinal moving, yawing, pitching and rolling; the six-degree-of-freedom platform is composed of six servo electric cylinders, and in the movement of vehicle running and turntable rotation, the space dynamic attitude of the cabin is controlled by motion control software compiled according to an optimal washout filtering algorithm; the retraction/extension amount of the servo electric cylinder in the non-acceleration direction is kept to be always lower than an acceleration threshold value sensed by a human body, then the acceleration is extended/retracted according to the requirement in the acceleration direction required by interaction, so that high-simulation continuous acceleration body feeling of passengers of the riding vehicle is realized, the continuous acceleration body feeling is calculated according to the position of the head vestibule of the average height of men in China, and the optimal washout filtering algorithm is introduced into a six-degree-of-freedom platform control software algorithm of the dynamically-traveling riding vehicle by considering different factors of the human body on the front, back, left and right acceleration sensing threshold values;

the dark riding vehicle system is internally provided with a road curvature detection system, namely a road curvature detection device is arranged at the front end of a vehicle chassis to instantly guide a vehicle driving wheel to correct the differential speed ratio of the wheels at any time;

during the performance operation of the vehicle, the vehicle-mounted computer continuously compares the scanning data obtained by the road curvature detection device with the 4-dimensional electronic map to obtain the actual instantaneous on-orbit position of the specific vehicle on the 4-dimensional electronic map, and as the point position coordinates in the 4-dimensional electronic map are composed of the 3-dimensional geometric coordinates of the position point and the uniquely corresponding time coordinates, the vehicle-mounted computer control system extracts the unique time coordinates in the 4-dimensional coordinates of the position point as clock information of local time to write in a message, and reports the message to the amusement item center computer through a communication link, and the center computer knows the specific geometric position of each vehicle in the 4-dimensional electronic map at the moment through the local time of the unique time coordinates of the vehicle; the vehicle receives a start position signal, an end position signal, clock information, and an interrupt signal from the show control center computer.

5. A combined system of a road curvature detection mechanism and a servo motor differential riding vehicle driving mechanism is characterized in that two wheels at the front part of a chassis of a riding vehicle are driving wheels and driven by a servo motor, and two wheels at the rear part are driven wheels; the straight line walking and differential turning of the vehicle chassis are realized by setting a rotating speed difference for the two servo motors; the front end of the vehicle chassis is provided with a road curvature detection device, and the measured front curvature value is calculated by an on-board computer and then the driving wheel of the vehicle is corrected to be a correct differential ratio in real time; the combined system comprises two driving wheels and two driven wheels, and is provided with a gas-liquid suspension device; the gas-liquid suspension device is without a power source;

the road curvature detection device calculates the curvature radius of a curve according to the length L of a line from the center point of the axis connecting line of the two rollers of the riding vehicle to the axis of a swing rod of the angle sensor and the included angle β between the center line of the detection rod and the center line of the chassis of the vehicle;

6. A control method of dark ride vehicle system is characterized in that during the performance operation of vehicles, a vehicle-mounted computer continuously compares the scanning data obtained by a road curvature detection device with a 4-dimensional electronic map to obtain the actual instantaneous on-orbit position of the specific vehicle on the 4-dimensional electronic map, and as the point coordinates in the 4-dimensional electronic map are composed of 3-dimensional geometric coordinates of the position point and a uniquely corresponding time coordinate, the vehicle-mounted computer control system extracts the unique time coordinate in the 4-dimensional coordinates of the position point to be used as clock information of local time to be written into a message and reports the message to an amusement item center computer through a communication link, and the center computer knows the specific geometric position of each vehicle in the 4-dimensional electronic map at the moment through the local time of the current unique time coordinate of the vehicle; the vehicle receives a starting position signal, an end position signal, clock information, and an interrupt signal from a performance control center computer;

the riding vehicle moves along with the scenario in each performance scene, including vehicle running, chassis rotation and six-degree-of-freedom platform movement, and instruction software is downloaded to the vehicle-mounted computer in advance; the playing frame of the film and television program contains time codes, namely time stamps, action instructions of a machine model, special-effect time sequence instructions, dimming tables and audio instructions; the vehicle-mounted computer only needs to write the time value coordinate of a certain instantaneous time point on the 4-dimensional electronic map into a message and upload the message to the project center control computer, and the center computer knows the instantaneous position of the vehicle; the central computer sends the message and only sends the time code, and the riding vehicle system starts to execute the prestored action command at each corresponding time point; the central computer continuously issues time codes, and the riding vehicle continuously acts, so that continuous follow-up of the vehicle and the film and television model special effect sound is formed; in the writing protocol of the time code, some time is not existed in the 4-dimensional electronic map, and represents another instruction; the clock time issued by the central computer is uniform, and the clock time received by each vehicle corresponds to the respective 4-dimensional electronic map to generate different instructions; the control method of the dark riding vehicle system is suitable for time synchronization of the whole project motion system and the performance system and is suitable for large and complicated dark riding projects with numerous measurement and control points;

the dark riding vehicle system is provided with a road curvature detection system, namely a road curvature detection device is arranged at the front end of a vehicle chassis to instantly guide a vehicle driving wheel to correct the differential speed ratio of the wheels at any time, a high-precision angle sensor is arranged on the central line of the front end of the chassis of a riding vehicle, a detection rod is arranged on a rotating shaft of the angle sensor and extends forwards, a pair of rollers is arranged at the front end of the detection rod, the road guide fin is tightly clamped by the two rollers, and the road curvature detection device calculates the curvature radius of a curve according to the length L from the central point of the connecting line of the axes of the two rollers of the riding vehicle to the axis of the swing rod of the angle sensor and the included angle β between the.