The police are never in a position to force a child to visit with a parent. On the other hand, the police do have the authority to enforce a visitation order. The custodial parent is always expected to encourage visitation.
the visit order is good until the child is 18 years old.
the custodial parent should do a motion to modify the visits. no guarantee that this will work but it is the only thing to do.
the custodial parent could get arrested for not providing the visit.
depending upon the police dept. and individual officer, either the child may be given to the non custodian, or the custodian will be arrested for visitation interference or the officer may say this is a civil matter, go see your lawyer.
The minor won't be forced into visitation - but the parent who tries to block visitation can discover that it's a really bad idea...
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