Systems and methods for braking or propelling a roaming vehicle

In one embodiment, a propulsion system includes roaming vehicles including a reaction plate installed on a bottom of each of the roaming vehicles, a surface stator matrix installed with a running surface for the roaming vehicles and including single sided linear induction motors (SSLIMs). Each of the SSLIMs include two windings installed orthogonally to one another. The propulsion system also includes motor drives configured to electrically couple to the SSLIMs via a switching panel, and a control system configured to receive information related to the roaming vehicles, receive a desired motion profile for the roaming vehicles across the surface stator matrix, determine which of the SSLIMs to activate and a performance of the SSLIMs based on the desired motion profile, the information, or some combination thereof, and send control signals to the motor drives to control the SSLIMs to produce the motion profile.

BACKGROUND

The present disclosure relates generally to a motion control mechanism and, more particularly, to systems and methods for braking or propelling a roaming vehicle.

Generally, vehicles include motors for driving the vehicles between locations. Motors are most often used to generate motive force, but certain types of motors can be used to both accelerate (e.g., start) and decelerate (e.g., stop) a vehicle. Indeed, there are a variety of motor arrangements used to accelerate and decelerate a vehicle carrying passengers. For example, trains, powered roller coasters, and the like, may utilize one or more electric motors with rotating elements to accelerate and decelerate a ride vehicle or car around a track. However, electric motors with rotating elements may be prone to mechanical issues and high downtime (e.g., the ride is inoperable) due to the rotating elements.

BRIEF DESCRIPTION

In accordance with an embodiment of the present disclosure, a propulsion system includes one or more roaming vehicles comprising a reaction plate installed on a bottom of each of the one or more roaming vehicles a surface stator matrix installed with a running surface for the one or more roaming vehicles and comprising a plurality of single sided linear induction motors (SSLIMs), wherein each of at least a portion of the plurality of SSLIMs include two windings installed orthogonally to one another; a plurality of motor drives configured to electrically couple to the plurality of SSLIMs via a switching panel; a control system configured to: receive information related to the one or more roaming vehicles; receive a desired motion profile for the one or more roaming vehicles across the surface stator matrix; determine which of the plurality of SSLIMs to activate and a performance of the plurality of SSLIMs based on the desired motion profile, the information, or some combination thereof; and send control signals to the plurality of motor drives to control the plurality of SSLIMs to produce the motion profile.

In accordance with another embodiment of the present disclosure, a method, includes receiving, via a control system, information related to one or more roaming vehicles disposed on a running surface of a surface stator matrix, wherein the surface stator matrix comprises a plurality of single sided linear induction motors (SSLIMs) each including two windings arranged orthogonal to each other and the one or more roaming vehicles comprise a non-ferrous reaction plate attached to a bottom of each respective roaming vehicle of the one or more roaming vehicles; receiving, via the control system, a desired motion profile for the one or more roaming vehicles across the surface stator matrix; determining, via the control system, a selection of the plurality of SSLIMs to activate and a performance of the selection of the plurality of SSLIMs based on the desired motion profile, the information, or some combination thereof; and sending, via the control system, control signals to the plurality of motor drives to control the selection of the plurality of SSLIMs to produce the motion profile.

In accordance with a further embodiment of the present disclosure, a propulsion system includes a control system that: receives information related to one or more roaming vehicles disposed on a running surface of a surface stator matrix, wherein the surface stator matrix comprises a plurality of single sided linear induction motors (SSLIMs) each including two windings arranged orthogonal to each other and the one or more roaming vehicles comprise a non-ferrous reaction plate attached to a bottom of each respective roaming vehicle of the one or more roaming vehicles; receives a desired motion profile for the one or more roaming vehicles across the surface stator matrix; determines which of the plurality of SSLIMs to activate and a performance of the plurality of SSLIMs based on the desired motion profile, the information, or some combination thereof; and sends control signals to the plurality of motor drives to control the plurality of SSLIMs to produce the motion profile.

DETAILED DESCRIPTION

In certain applications, such as an amusement park attraction, high uptime (e.g., the amusement park attraction is operational) is desirable to ensure that patrons are satisfied by being given the opportunity to ride or experience the amusement park attraction. However, some amusement park attractions use equipment to propel vehicles, such as rotary motors, that experience strong mechanical stresses in operation that may wear on certain parts of the equipment over time. For example, a shaft of a rotary motor or contact elements of the propulsion system, such as tires or tracks, may degrade after extended use. In addition, some roaming vehicles in attractions include onboard propulsion equipment (e.g., a motor and a power source for the motor) that may add weight to the vehicle, thereby affecting its performance. It is now recognized that it may be desirable to use equipment to propel vehicles in the attractions that are relatively low maintenance and/or located remote from the vehicle.

It is now recognized that it may be desirable to use electric motors without rotating elements, such as linear induction motors (LIMs) or linear synchronous motors (LSMs). The LIMs and/or LSMs may accelerate a ride vehicle or car along a track and bring the ride vehicle or car to rest at a desired location. Additionally, certain ride vehicles may be propelled around a course and stopped as desired using LIMs and/or LSMs. LIMs and/or LSMs generally include electric motors having stators and rotors in a linear configuration. Rather than producing torque with rotating elements, LIMs and LSMs produce the force to move the roaming vehicle by producing a linear magnetic field to attract or repel magnets or conductors in the field.

Some embodiments of the present disclosure generally relate to using a propulsion system that includes a running surface (e.g., floor) that includes single sided linear induction motors (SSLIMs), and a roaming vehicle that includes a reaction plate to interact with the SSLIMs. In some embodiments, the roaming vehicles may not include a power system to control the SSLIMs (e.g., the power system may be under the floor surface), thereby reducing the weight of the roaming vehicles. Further, the propulsion system may use relatively few moving parts by employing the SSLIMs to propel the roaming vehicle. Accordingly, one benefit enabled using the disclosed propulsion system is a reduction in maintenance and downtime as compared to other systems. In addition, using the SSLIMs to move the roaming vehicle may be highly dynamic in that a control system can control and adjust how each SSLIM is activated to move the roaming vehicle in any desired direction and path. Indeed, there may be numerous preconfigured roaming vehicle motion profiles (e.g., path, velocity) that are stored as instructions on one or more tangible, computer-readable mediums and executed by on one or more processors based at least on the arrangement of obstacles or show set on the running surface. If the obstacles or show set are changed (e.g., the ride is redesigned or themed for a special event), a preconfigured roaming vehicle motion profile may be implemented, the motion profile including instructions for which SSLIMs to activate and when to activate them based on the path and velocity of the roaming vehicle. Further, the roaming vehicle motion profile may be dynamically adjusted based on input from the patron occupying the roaming vehicle. Thus, another benefit of the disclosed embodiments may be rapid or real-time motion profile adjustment to provide users with different experiences during the ride or during subsequent rides.

With the foregoing in mind,FIG. 1is a schematic of an embodiment of a propulsion system10for controlling the transportation of a roaming vehicle12that includes single sided linear induction motors (SSLIMs)14, a position monitoring system16, a control system18, and a motor drive matrix20, in accordance with an embodiment. Although just one roaming vehicle12is depicted, it should be understood that the propulsion system10may be used to control the transportation of numerous roaming vehicles12(e.g., between 1 and 10). As depicted, the roaming vehicle12is disposed on a two-dimensional (e.g., including x- and y-axes) running surface22(e.g., a floor) that includes a matrix24of installed SSLIMs14. The matrix24may be referred to as the surface stator matrix24herein. The SSLIMs14may be constructed as tile blocks for the running surface22, as described in detail below. Each roaming vehicle12may be considered an automated guided vehicle (AGV) and may include a reaction plate and a backing plate (e.g., steel) secured to a bottom of the roaming vehicle12. As described below, the reaction plate may include a non-ferrous conductor (e.g., aluminum, copper, zinc, amalgam of brass and copper). The SSLIMs14may each represent a stator and the reaction plate and the steel backing plate of the roaming vehicle12may represent a rotor, when the SSLIMs14and the reaction plate interact to produce motion of the roaming vehicle12. As described in detail below, the surface stator matrix24may be controlled using the position monitoring system16, the control system18, and the motor drive matrix20.

Although the following discussion focuses on SSLIMs14being used in the propulsion system10, it should be noted that, in some embodiments a linear synchronous motor (LSM) including a rare earth magnet may be used. In such embodiments, the stator may include an electromagnetic motor winding on one side of an air gap and the rotor may include one or more permanent magnets on the other side of the air gap. For example, the stator in the LSM may be located in the running surface and the rotor may be located on the bottom of the roaming vehicle12, or vice versa.

Returning to the depicted embodiment including the SSLIMs14, the number and size of the SSLIMs14included in the surface stator matrix24disposed in the running surface22may be influenced by one or more factors. For example, the SSLIMs14to reaction plate ratio may influence motion performance (e.g., speed and direction of movement) of the roaming vehicle12. A greater number of SSLIMs14interacting with a reaction plate may result in finer steering motion control with diminished acceleration. In contrast, a smaller number of SSLIMs14per reaction plate may result in higher acceleration and gross motion control. The density of SSLIMs14in the running surface22may be determined based on desired performance of the roaming vehicle12. Additionally, some SSLIMs14may be different sizes (e.g., larger) than other SSLIMs14. In some embodiments, various portions of the running surface22may include different densities of SSLIMs14than other portions based on the desired performance. When the SSLIMs14are placed in the surface stator matrix24, the SSLIMs14may be activated to control the motion of the roaming vehicle12.

In some embodiments, the SSLIMs14may be bi-directional because each SSLIM14may include windings25and26that are arranged or installed orthogonally to each other, as depicted in the overhead view of the SSLIM14inFIG. 2. The windings25and26may each be wound around a respective layered steel laminate27and28adhered together to form the SSLIMs14. The SSLIMs14may be placed in a slat and encased in an epoxy to create tile blocks29(e.g., plastic resin block). The tile blocks29including the SSLIMs14may be installed in a grid pattern to form the running surface22.

To propel the roaming vehicle12around the running surface22, an electric current may be applied to the appropriate windings25and26of the SSLIMs14to thrust the roaming vehicle12in a desired direction. The windings25and26may generate a magnetic field when current is applied that may cause the non-ferrous conductor included in the reaction plate to produce an opposing magnetic field (e.g., eddy currents). The opposing magnetic fields may repel each other and cause the reaction plate to move, thereby moving the respective roaming vehicle12. The amount of acceleration of the roaming vehicle12may be proportional to the sum magnetic field produced by the SSLIMs14. The sum magnetic field may be controlled by the amount of electric current supplied to the windings25and26of the SSLIMs14.

One winding25may provide a first motive force in a first direction and another winding26may provide a second motive force in a second direction, depending on how the SSLIM14is arranged in the surface stator matrix24. For example, the first direction may be longitudinal and the second direction may be lateral. In a more specific example, the second direction may be crosswise relative to the first direction, such as 90 degrees from and coplanar with the first direction. In addition, each winding25and26can provide a forward and a backward direction of thrust by reversing the polarity of the magnetic field produced by the winding25and26. Thus, using orthogonally arranged windings25and26, each of the SSLIMs14may provide four directions of thrust as desired. As a result, the SSLIMs14may be controlled in coordination to thrust the roaming vehicle12in any direction and/or stop the roaming vehicle12on the running surface22as desired. That is, various combinations of SSLIMs14may be activated to produce a force vector in any desired direction to move the roaming vehicle12. In some embodiments, the SSLIMs14may include one winding and may be positioned orthogonal to another SSLIM14that includes one winding.

It should be noted that the motor drive matrix20may control the strength of the magnetic field generated by the windings25and26, in addition to the polarity, by adjusting the current supplied to the windings25and26. That is, an increase in current may cause a stronger magnetic field to be emitted that increases acceleration of the roaming vehicle12when the reaction plate of the roaming vehicle12passes through the magnetic field. Thus, the magnitude and the direction of the magnetic field may be adjusted to control the speed and direction of movement of the roaming vehicle12as its reaction plate reacts with the magnetic field generated by the SSLIMs14.

Returning toFIG. 1, there may be numerous (e.g., between 2 and 20) SSLIMs14located underneath the reaction plate at any given position of the roaming vehicle12on the running surface22. To move the roaming vehicle12in a given direction and at a certain speed, a combination of the SSLIMs14underneath the reaction plate may be turned on and off in time to react with the reaction plate of the roaming vehicle12as the roaming vehicle12traverses the running surface22. For example, to move the roaming vehicle12forward, one or more SSLIMs14located underneath a left and right side of the reaction plate may be turned on to provide thrust in a forward direction. At the same time, if it is desired to cause the roaming vehicle12to spin, a SSLIM14located underneath the front and the back of the reaction plate may be turned on in a direction orthogonal to the forward direction of travel. That is, the SSLIM14in the front may cause thrust left and the SSLIM14in the back cause thrust right so the roaming vehicle12spins as it moves forward. Applying current to SSLIMs14in a more complex pattern may, for example, result in curved motion of the roaming vehicle12as it translates across the running surface22. Such scenarios and numerous other roaming vehicle12motion examples are described below.

The position of the roaming vehicles12may be observed by the position monitoring system16. The position monitoring system16may determine vehicle information related to the position and the velocity of the roaming vehicle12and send the vehicle information to the control system18. The control system18may determine which SSLIMs14to power and when to power them based at least on the vehicle information and the desired motion profile of the roaming vehicle12. Then, the control system18may send control signals to the motor drive matrix20to drive the SSLIMs14accordingly to propel the roaming vehicle12.

As previously noted, the disclosed embodiments may enable changes to the motion profile of the roaming vehicles12, either dynamically (e.g., on the fly) or statically (e.g., in a pre-configuration stage). For example, a patron may use a wireless directional controller to steer the roaming vehicle12and the SSLIMs14may be controlled accordingly to thrust the roaming vehicle12in the desired direction. Further, the control system18may store a number of preconfigured roaming vehicle motion profiles that steer the roaming vehicle12around stationary obstacles on the running surface22. The preconfigured roaming vehicle motion profiles may identify which SSLIMs14to activate and when to activate them based on the path and velocity of the roaming vehicle12. When the obstacles on the running surface22are rearranged (e.g., a ride is redesigned), a new roaming vehicle motion profile may be preconfigured and executed by the control system18. Thus, some embodiments of the present disclosure may provide a patron with a different experience during each ride.

The propulsion system10may include various components that enable the embodiments discussed above. For example,FIG. 3is a block diagram of example components of the propulsion system10. The propulsion system10may include the surface stator matrix24, one or more roaming vehicles12, the control system18, the position monitoring system16, and the motor drive matrix20. As previously discussed, the propulsion system10may be configured to control the transportation of the roaming vehicle12across the running surface22where the surface stator matrix24is installed. The control system18, the position monitoring system16, the motor drive matrix20, the roaming vehicle12, and the surface stator matrix24may include various components that enable controlled movement of the roaming vehicle12.

The control system18may include a processor30, a memory32, a communication module34, and a power supply36. The processor30, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory32, which may represent one or more memory components, may be any suitable articles of manufacture that can serve as media to store processor-executable code, data, or the like. These articles of manufacture may represent tangible, non-transitory computer-readable media (e.g., any suitable form of tangible memory or storage) that may store the processor-executable code used by the processor30to control aspects of the presently disclosed embodiments, such as determining which SSLIMs14to activate and the magnitude and direction of their magnetic fields. The memory32may also be used to store the vehicle information received from the position monitoring system16.

The communication module34may be a wireless or wired communication component that may facilitate communication with the position monitoring system16, the roaming vehicle12, and the motor drive matrix20. As such, the communication module34may include a wireless card or data port (e.g., Ethernet connection) capable of transmitting and receiving data. For example, after making the determinations of which SSLIMs14to activate and performance (magnitude and direction of the magnetic fields) of the SSLIMs14, the processor30may instruct the communication module34to send command instructions (e.g., SSLIM14identifier, activation/deactivation timing, force direction, amount of force to apply) to the motor drive matrix20, which may supply electric current to the SSLIMs14accordingly. The power supply36may be any suitable power supply, including, but not limited to, a battery, for the control system18.

The position monitoring system16may include a processor38, a memory40, a communication module42, and a sensor44. It should be noted that although the position monitoring system16is depicted as a separate component from the control system18, in some embodiments, the position monitoring system16may be included in the control system18. The processor38, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory40, which may represent one or more memory components, may be any suitable articles of manufacture that can serve as media to store processor-executable code, data, or the like. These articles of manufacture may represent tangible, non-transitory computer-readable media (e.g., any suitable form of tangible memory or storage) that may store the processor-executable code used by the processor38to acquire vehicle information about the roaming vehicle12, such as position and velocity of the roaming vehicle12, and transmit the vehicle information to the control system18, among other things. The memory40may also be used to store the vehicle information acquired by the sensor44.

The communication module42may be a wireless or wired communication component that may facilitate communication with the control system18and/or the roaming vehicle12. As such, the communication module42may include a wireless card or data port (e.g., Ethernet connection) capable of transmitting and receiving data. The sensor44may include an optic system that utilizes a camera to enable the position monitoring system16to track certain vehicle information (e.g., position of roaming vehicle12and/or velocity of roaming vehicle12). In some embodiments, the processor38and the communication module42may use signal (e.g., radio) triangulation to triangulate a signal emitted from the roaming vehicle12through a network to which the position monitoring system16and the roaming vehicle12are connected. Once triangulated, the processor38may determine the location of the roaming vehicle12on the surface stator matrix24. The vehicle information obtained by the position monitoring system16may be sent to the control system18, which in turn determines which SSLIMs14to activate/deactivate and/or the performance (direction and strength of the magnetic fields) of the SSLIMs14. The power supply46may be any suitable power supply, including, but not limited to, a battery, for the position monitoring system16.

The motor drive matrix20may include a plurality of motor drives48. The motor drives48may include variable frequency drives (VFDs) that may control the strength and direction of the magnetic field (e.g., corresponding to the direction and amount of thrust generated by the SSLIMs14) by varying input frequency and voltage to the windings of the SSLIMs14. The number of motor drives48may be less than the total number of SSLIMs14included in the surface stator matrix24. That is, in some embodiments, there may not be a one-to-one relationship between the number of motor drives48and SSLIMs14because only the SSLIMs14used in the roaming vehicle motion profile may be activated at any given time.

To enable using less motor drives48than SSLIMs14, the processor30of the control system18may multiplex the motor drives48to control only those SSLIMs14that are in a preconfigured roaming vehicle motion profile or are dynamically determined to be in the motion profile based on input from the user. When determining which motor drives48to multiplex, in one embodiment, the processor30considers the number of total windings of the SSLIMs14needed to motivate the roaming vehicle12based on factors such as static friction, rolling friction, inertia, maximum acceleration and velocity, and/or braking acceleration. The control system18may send control signals to a switching panel50(e.g., solid state switching panel) of the motor drive matrix20to control the motor drives48to drive the appropriate SSLIMs14at a particular time and continuously switch the control of the next SSLIMs14in the vehicle motion profile to available motor drives48to move the roaming vehicle12around the surface stator matrix24based on where the roaming vehicle12is located. Thus, in some embodiments, the number of motor drives48used may be less than the number of SSLIMs14. In one embodiment, windings25and26of the SSLIMs14are wired directly to the switching panel50that switches the control of the SSLIMs14between motor drives48and/or directly to the motor drives48. In this way, the motor drives48may be electrically coupled to the SSLIMs14. Maintainability may be increased by the multiplexing scheme described above that may reduce the overall hardware count (e.g., number of drives) of the propulsion system10. However, in some embodiments, the same number of motor drives48and SSLIMs14may be used.

Regarding the roaming vehicle12, its components may include a processor52, a memory54, a communication module56, a mechanical brake58, a power supply60, a wireless directional controller62, speakers64, lights66, a restraint lock68, a position tracking system70, casters72, a reaction plate (e.g., rotor)74, a rectifier and power conditioner76, and/or an induction coil79. The processor52, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory54, which may represent one or more memory components, may be any suitable articles of manufacture that can serve as media to store processor-executable code, data, or the like. These articles of manufacture may represent tangible, non-transitory computer-readable media (e.g., any suitable form of tangible memory or storage) that may store the processor-executable code used by the processor52to perform the presently disclosed techniques, such as controlling the onboard electronics (communication module56, wireless directional controller62, position tracking system70, speakers64, lights66, restraint locks68, etc.) and/or brake58. In some embodiments, the memory54may also be used to store the vehicle's information such as size dimensions (e.g., weight, length, width, height), velocity, acceleration, and so forth.

The communication module56may be a wireless communication component that may facilitate communication with the control system18and/or the position monitoring system16. As such, the communication module56may include a wireless card capable of transmitting and receiving data. For example, the processor52may instruct the communication module56to send the vehicle information to the control system18so the control system18can determine which SSLIMs14to activate and how the SSLIMs14should be activated.

To enable movement of the roaming vehicle12, the roaming vehicle12includes the reaction plate74, casters72, and the mechanical brake58. The movements of the roaming vehicle12may include accelerating, decelerating, turning, and stopping of the roaming vehicle12. The reaction plate74may include a reaction plate including a non-ferrous conductor plate and a ferrous (e.g., steel) backing plate. In an embodiment, the reaction plate is a single continuous or monolithic non-ferrous plate attached or installed on to the bottom of the roaming vehicle12. In such embodiments, the reaction plate may encompass as much of the bottom area (or possibly larger) of the roaming vehicle12to provide sufficient surface area for interaction with the magnetic fields generated by the SSLIMs14. Different types of non-ferrous material may provide better efficiency than others due to conductivity, electric flow, magnetic field flow, and the like. The shape of the reaction plate may be any suitable shape, including circular, rectangular, square, or the like. The casters72may include any suitable rolling equipment, such as wheels, that enables multi-directional and unlimited orientation on the running surface22. In some embodiments, the casters72may be used to maintain an air gap between the stator14and the reaction plate74, which increases efficiency of propulsion using the SSLIMs14by mitigating energy losses due to friction. In some embodiments, as described further below, the mechanical brake58may include a ferrous plate and a braking material on the ferrous plate. The ferrous plate is attracted to the magnetic field generated by the SSLIMs14underneath the reaction plate, which pulls the brake58down to contact the running surface22. The braking material provides friction between the brake58and the running surface22to slow or stop the roaming vehicle12.

As discussed above, the roaming vehicle12may not include a power system that is used to supply power to a motor (SSLIM14). As such, the roaming vehicle12may be lighter than other roaming vehicles12that include a power system. However, in some embodiments, the roaming vehicle12may include a power supply60that is charged using energy obtained by the induction coil79on the reaction plate74from the magnetic field of the SSLIMs14. In some embodiments, the energy inducted may be rectified and conditioned by the rectifier and power conditioner76and used to power onboard electronics, such as the processor52, the memory54, the communication module56, wireless directional controller62, the speakers64, the lights66, the position tracking system70, and/or restraint locks68.

The speakers64and/or the lights66may be controlled by the processor52during certain parts of the ride to enhance the theme of the ride or enhance show elements in the roaming vehicle12. Further, the user may use the wireless directional controller62to guide the roaming vehicle12around the surface stator matrix24. For example, the desired direction may be transmitted to the control system18, which may determine which SSLIMs14to activate to thrust the roaming vehicle12in the desired direction based on the user input. In some embodiments, the wireless directional controller62may be limited to enable the user to spin the roaming vehicle12but not actually control the gross movement direction of the roaming vehicle12, or vice-versa. For example, the user may spin the roaming vehicle12during a ride to look at a different scene or shoot at a target but the roaming vehicle12is still transported along a set path. The restraint locks68may be used to restrain the patrons in the roaming vehicle12(e.g., while the roaming vehicle12is in motion and/or stationary).

The position tracking system70may monitor the position of the roaming vehicle12on the surface stator matrix24. In one embodiment, the position tracking system70interacts with sensors on the surface stator matrix24. Each sensor represents a unique location (e.g., coordinates relative to one or more reference points) on the surface stator matrix24. In such an embodiment, the position tracking system70includes a reader that may read the sensors to determine the position of the roaming vehicle12on the surface stator matrix24. The reader may then supply the position information to the control system18, which in turn determines which SSLIMs14to activate and how each should be activated. In some embodiments, the position tracking system70may include RFID tags and/or emitted lasers to provide and/or acquire position information. In embodiments where the position monitoring system16tracks the vehicle information utilizing the sensor44, the roaming vehicles12may not include the position tracking system70. WhileFIG. 3illustrates the tracking system70on the roaming vehicle12, in other embodiments it is not present, which is indicated by the dashed lines. In accordance with some embodiments, the determination of vehicle position is performed completely wayside. As an example, wayside determinations may be based on machine vision systems positioned above the roaming vehicle12and configured to monitor location or positioning thereof. Further, in some embodiments, the only power and control onboard the roaming vehicle12is that associated with entertainment (e.g. lighting and audio effects). The braking in such embodiments may be passively controlled and passenger restraints may be mechanically actuated. However, in other embodiments the passenger restraints may be electrically actuated through induction pickups. In such embodiments, keeping navigation and other ride control wayside (off the roaming vehicle12) provides for efficient vehicle design and algorithmic control off board. Additionally or alternatively, the position tracking system70of the roaming vehicle12and the position monitoring system16may work in concert to acquire vehicle information (e.g., position and/or velocity) to send to the control system18.

In some embodiments, the surface stator matrix24may include the SSLIMs (stators)14and an air supply78. As previously discussed, the SSLIMs14may be included in tile blocks29. The tile blocks29may be arranged on a grid of the matrix24based on the desired performance of portions of the surface stator matrix24(e.g., larger SSLIMs14may be placed in portions where high acceleration and deceleration are desired). The tile blocks29may be readily removable from the surface stator matrix24to enable servicing or replacement.

Vinyl (e.g., linoleum) may be placed over each one of the tile blocks and may be used as a wear surface. For example, one or more sheets of vinyl may be used to cover the tile blocks. The vinyl covering the tile blocks may serve as the running surface for the roaming vehicles12. In some embodiments, there may be a certain amount of distance between the tile blocks29(e.g., between 0.1 centimeter and 0.5 centimeter). Maintaining a small air gap (e.g., within a certain threshold distance) between the stator and the rotor in linear induction motors may greatly enhance generation of a thrust vector and may increase efficiency of the motor. Thus, the vinyl or cover applied to the tile blocks29should be relatively thin and non-metallic.

In some embodiments, the architecture of the surface stator matrix24may enable a robust backup capability. For example, when a relatively small number of SSLIMs14do not operate as desired, the control system18may control an adjacent SSLIM14to produce the desired magnetic field. In some scenarios, the adjacent SSLIM14may be located underneath the reaction plate74or near the reaction plate74and may produce an induction field that motivates the reaction plate74. However, in some embodiments, off tangent force vectoring may cause the use of the adjacent SSLIMs14to result in a less efficient motivating force. This may be compensated for in such scenarios by closed-loop feedback that modulates the drive time and/or current to all applicable SSLIMs14resulting in the planned motion profile and desired thrust vector as the roaming vehicle12traverses the surface stator matrix24. The control system18may use the closed-loop feedback to detect the loss of certain windings of the SSLIMs14through back calculation of the resultant roaming vehicle12motion.

In some embodiments, when casters72are not used, the air supply78may be used to blow air through holes in the running surface22and float the roaming vehicle12on an air bearing. In this embodiment, there are no contact points between the roaming vehicle12and the running surface22, and the SSLIMs14are controlling the position and rotation of the roaming vehicle12. Such an embodiment may increase uptime (e.g., the attraction is operational) of the attraction because there are fewer components to maintain (e.g., tires, bearings, and wheels).

Turning now to operation of the propulsion system10, an embodiment of a process90for controlling the transportation of one or more roaming vehicles12using the propulsion system10is illustrated by the flow diagram inFIG. 4. Although the following description of the process90is described as being performed by the control system18, it should be noted that some or all of the process90may be performed by other control devices that may be capable of communicating with the control system18, the position monitoring system16, and/or the motor drive matrix20, such as a computing device or other component associated with the propulsion system10. Additionally, although the following process90describes a number of operations that may be performed, it should be noted that the process90may be performed in different orders and that certain operations may not be performed. The process90may be implemented as computer instructions stored on the memory32of the control system18.

In the illustrated embodiment of the process90, the control system18may receive (block92) roaming vehicle information. The roaming vehicle information may be received from the position monitoring system16and/or the roaming vehicle12and may include information for one or more roaming vehicles12disposed on the running surface22. The roaming vehicle information may include a position (data94) of the roaming vehicle12on the running surface22, a velocity (data96) of the roaming vehicle12, and/or a mass (data98) of the roaming vehicle12.

The control system18may receive (block100) the desired motion profile (e.g., path, velocity) for the roaming vehicle12. In some embodiments, the desired motion profile may be preconfigured (data102) that includes the path for the roaming vehicle12and/or the desired velocities of the vehicle12at each portion of the surface stator matrix24. In such an embodiment, the preconfigured motion profile may be obtained from the memory32. Additionally or alternatively, the desired motion profile may include directions based on user input (data104). As previously discussed, the user input may enable the user to rotate the roaming vehicle12while the preconfigured path of the roaming vehicle12is still followed, the user input may enable the user to actually control the direction where the roaming vehicle12travels, the user input may enable the user to increase acceleration or deceleration of the roaming vehicle12, or some combination thereof.

The control system18may determine (block106) which SSLIMs14to activate and performance of the SSLIMs (e.g., activation timing, amount of thrust) based at least on the desired motion profile and/or the roaming vehicle information. For example, in some embodiments at the beginning of a ride, the control system18may already know the position of the roaming vehicle12and may only use the motion profile to determine which SSLIMs14to activate, the times at which to activate each SSLIM14, and the amount of thrust to generate as the roaming vehicle12traverses the surface stator matrix24. However, in some embodiments, where the motion profile dynamically changes (e.g., based on user input), the control system18may use the position94of the roaming vehicle12to determine which SSLIMs14are underneath or nearby the roaming vehicle12and select to activate those SSLIMs14as the roaming vehicle12traverses the surface stator matrix24(e.g., while deactivating SSLIMs14that are not selected). In some embodiments, a certain percentage of SSLIMs14around the roaming vehicle12may be activated to improve efficiency.

Further, in some embodiments, determining the number of SSLIMs14to activate may depend on the velocity96of the roaming vehicle12. For example, when first starting the roaming vehicle12in motion, it may be desirable to activate all SSLIMs14underneath the reaction plate to generate higher power and acceleration. When the roaming vehicle12reaches a desired velocity, the control system18may reduce the density of SSLIMs14that are active in the particular direction because fewer SSLIMs14may maintain a certain amount of energy to maintain the desired velocity. When the motion profile indicates a change of direction for the path of the roaming vehicle12, then the magnitude of the thrust vector and density of SSLIMs14used may be increased because changing direction may require more torque than proceeding in a straight line. Thus, the density of SSLIMs14that are selected to activate under the roaming vehicle12at any one time may depend on the torque demand and current motion vector of the roaming vehicle12.

It should be understood that the orthogonally arranged windings25and26of each SSLIM14may enable multi-directional movement of the roaming vehicle12to follow any motion profile. Each winding25and26may be individually energized. The force vector generated may be configured as desired because one winding25may provide a field in a first direction (e.g., forward or backward) and a second winding26may provide a field in a second direction (e.g., right or left). Used in combination, the windings25and26of the SSLIMs14may be activated to provide a force vector at any angle.

The control system18may send (block108) control signals to the motor drive matrix20to multiplex the motor drives48to control the SSLIMs14as desired. In some embodiments, the switching panel50may be used to connect the motor drives48to the appropriate SSLIMs14. The control system18may return to receiving roaming vehicle information at block92and repeat the process90to continuously navigate the roaming vehicle12around the running surface22.

To aid in visualizing the interaction between the reaction plate74of the roaming vehicle12and the surface stator matrix24under the running surface22,FIG. 5illustrates an overhead schematic of the reaction plate74located above the surface stator matrix24. As previously discussed, the reaction plate74may be formed from any suitable non-ferrous conductive material, such as aluminum, copper, zinc, amalgam of brass and copper, or the like. Further, a ferrous (e.g., steel) backing plate may be disposed between the reaction plate74and the bottom of the roaming vehicle12. As the magnetic field passes through the conductor of the reaction plate74, the steel backing plate may return the field back to the SSLIM14. The force vector may be generated by the opposing magnetic field of the conductor that is induced by eddy currents as the magnetic field of the SSLIM14passes through the conductor.

As depicted, one or more casters72(e.g.,5) may be attached to the base of the roaming vehicle12. The casters72may include wheels that are used to roll the roaming vehicle12around the running surface22. The casters72may be used to maintain a precise air gap between the reaction plate74and the surface stator matrix24to maintain an efficient induction field.

As previously discussed, the SSLIMs14of the surface stator matrix24may be included in tile blocks29and arranged in a grid pattern. In some embodiments, the sub-floor support110may be used to elevate the surface stator matrix24off of a foundation112and provide room for wiring space114, as illustrated in the cross-sectional view inFIG. 6. The sub-floor support110may support a grid on which each of the tile blocks29including SSLIMs14is placed. The wiring of the SSLIMs14may be disposed in the wiring space114and may connect the SSLIMs14to the motor drives48and/or the switching panel50. The tile blocks29(e.g., epoxy blocks) may generally be square shaped, rectangular shaped, circular shaped, or the like as described above and may include two orthogonally arranged windings25and26of the SSLIMs14.

FIGS. 7-15generally illustrate examples of how various SSLIMs14located underneath or near the reaction plate74may be controlled to provide different thrust vectors and move the roaming vehicle12in desired directions. It should be noted that the number of SSLIMs14applied in the same direction increases the thrust in that direction. Further, pulsing of the SSLIMs14may facilitate certain motions. The processor30may determine the number of SSLIMs14to apply using physics modeling to change the thrust vector. Also, if a thrust vector is provided in one direction, an equal and opposite thrust may be provided to change the vector. Starting withFIG. 7, an overhead schematic illustrates SSLIMs14being controlled to produce a thrust vector in a forward direction in the reaction plate74, in accordance with an embodiment. As indicated by arrows120, one or more SSLIMs14underneath the front, back, left side, and right side of the reaction plate74are providing a thrust in a forward direction. As a result of the combined thrusts, the thrust vector is in a forward direction as indicated by arrow122.

FIG. 8is an overhead schematic illustrating SSLIMs14being controlled to produce a counter-clockwise thrust vector (indicated by arrow124) in the reaction plate74, in accordance with an embodiment. The counter-clockwise thrust vector124may spin the roaming vehicle12. To produce the counter-clockwise thrust vector124, one or more SSLIMs14underneath the front and back of the reaction plate74may provide a thrust orthogonal (90 degrees to the left and right) (arrow126and128) to the thrusts (arrows130and132) produced by one or more SSLIMs14underneath the sides of the reaction plate74. As depicted, the thrust128produced in the left side of the reaction plate74is in a backward direction and the thrust130produced in the right side of the reaction plate74is in a forward direction. As a result of the combined thrusts, the thrust vector124may spin the roaming vehicle12in a counter-clockwise direction.

FIG. 9is an overhead schematic illustrating SSLIMs14being controlled to produce balanced thrust towards the edges of the reaction plate74so there is no thrust vector (dot134) applied to the reaction plate74, thereby holding the roaming vehicle12in place, in accordance with an embodiment. In particular, one or more SSLIMs14underneath the front and back of the reaction plate74may thrust in opposite directions towards the edges of the reaction plate74, as shown by arrow136representing thrust in a forward direction and arrow138representing thrust in a backward direction. In conjunction with the thrusts136and138, one or more SSLIMs14underneath the left and right sides of the reaction plate74may thrust in opposite directions towards the edges of the reaction plate74, as shown by arrow140representing thrust in a left direction and arrow142representing thrust in a right direction, to hold the reaction plate74in place. The thrusts136,138,140, and142may produce a balanced pattern of thrusts from the SSLIMs14that do not result in a vectored force applied to the reaction plate74.

FIG. 10is an overhead schematic illustrating SSLIMs14being controlled to produce a thrust vector (arrow144) in a forward and left direction in the reaction plate74, in accordance with an embodiment. The thrust vector144may be produced by one or more SSLIMs14underneath the front and back of the roaming vehicle12generating thrust (arrow146) in a forward direction and one or more SSLIMs14underneath the left and right sides of the roaming vehicle12generating thrust (arrow148) in a left direction. The combined thrusts may generate a thrust vector that provides an angled direction (e.g., 45 degrees) of travel for the roaming vehicle12.

FIG. 11is an overhead schematic illustrating SSLIMs14being controlled to produce a thrust vector (arrow150) in a forward and slightly left direction in the reaction plate, in accordance with an embodiment. Compared to thrust vector144ofFIG. 10, thrust vector150inFIG. 11is angled left to a lesser degree as a result of activating more SSLIMs14underneath the front and back of the roaming vehicle12to generate more thrust (arrows152) in the forward direction than SSLIMs14underneath the left and right sides generating thrust (arrows154) in the left direction. That is, the resulting thrust vector150is directed more forward than to the left as a result of the thrust generated by the SSLIMs14underneath the front and back exceeding the thrust generated by the SSLIMs14underneath the left and right sides of the reaction plate74. It should be understood that the angle of direction of the thrust vector may be finely tuned by activating appropriate SSLIMs14.

FIG. 12is an overhead schematic illustrating SSLIMs14being controlled to produce a thrust vector (arrows156) in a forward direction while rotating counter-clockwise in the reaction plate74, in accordance with an embodiment. To generate the forward, counter-clockwise rotating thrust vector156, one or more SSLIMs14underneath the right and left sides of the reaction plate74may generate thrust (arrows158) in the forward direction and one or more SSLIMs14underneath the front and back of the reaction plate74may generate thrust (arrows159and160) in opposite directions that are orthogonal to the direction of side thrusts158. For example, thrust159is in a left direction and thrust160is in a right direction, which may cause the roaming vehicle12to spin counter-clockwise, while thrusts158cause the roaming vehicle12to move in a forward direction. It should be understood that the SSLIMs14may be controlled to spin the roaming vehicle12in a clockwise direction.

FIG. 13is an overhead schematic illustrating SSLIMs14being controlled to produce a strong thrust vector (arrow161) in a forward direction in the reaction plate74to increase acceleration, in accordance with an embodiment. As depicted, a higher density of SSLIMs14are activated and may generate thrusts (arrows162) in a forward direction. The higher density of SSLIMs14activated in the same direction increase the thrust in that vector.

FIG. 14is an overhead schematic illustrating SSLIMs14being controlled to produce a braking thrust vector (arrow164) in a forward direction in the reaction plate74, in accordance with an embodiment. The thrust vector arrow164is reduced in size to represent the effect of the braking thrust (arrows166) being generated by SSLIMs14underneath the reaction plate74on the thrust vector164while the roaming vehicle12is in motion. It should be noted that, to slow down the roaming vehicle12moving in a particular direction, the SSLIMs14underneath the roaming vehicle12may be controlled to generate thrust (arrows166) in an opposing direction to the direction of movement.

FIG. 15is an overhead schematic illustrating SSLIMs14being controlled to produce a thrust vector (arrow168) in the reaction plate74that curve the forward motion of the roaming vehicle12to the right without rotating the roaming vehicle12, in accordance with an embodiment. Initially, the roaming vehicle12is traveling forward due to thrust (arrows170) generated by SSLIMs14underneath the roaming vehicle12. To curve the motion of the roaming vehicle12, the control system18may determine the position of the roaming vehicle12and instruct the motor drive matrix20to activate SSLIMs14in the motion path of the roaming vehicle12in time to interact with the reaction plate74as the roaming vehicle12traverses the running surface to direct the roaming vehicle12in the desired direction. In some embodiments, as illustrated, various rows of SSLIMs14may produce thrust in the desired direction incrementally. For example, to curve the motion of the roaming vehicle12to the right, a first row172of SSLIMs14may generate thrust (arrows174) in a right direction to force the vehicle12right in one increment. In the next increment, a second row176of SSLIMs14may generate thrust (arrows178) in a forward direction to keep the roaming vehicle12moving forward. Then, in the next increment, a third row180of SSLIMs14may generate thrust (arrows182) in the right direction to force the roaming vehicle12to the right. The control system18may control additional SSLIMs14in the motion path of the roaming vehicle12to continue to produce the curved motion by producing a sum thrust vector directed in any desired angle.

FIG. 16is a side view of the mechanical brake58included in the roaming vehicle12, in accordance with an embodiment. In a first view, the mechanical brake58is shown as undeployed, and, in a second view192, the mechanical brake58is show as deployed. In some embodiments, the mechanical brake58may include a ferrous plate194(e.g., steel) with a brake pad material for high frictional μ. The brake pad material may provide sufficient friction to hold the mechanical brake58and roaming vehicle12in place when in contact with the running surface22. Further, the mechanical brake58may include a recess196in which a locking pin198is inserted to hold the mechanical brake58in the undeployed position as the mechanical brake58passes through magnetic fields generated by the SSLIMs14on the surface stator matrix24. To deploy the mechanical brake58, the control system18may send a control signal to the roaming vehicle12to release the locking pin198. The magnetic field generated by the SSLIMs14may attract the ferrous plate194of the mechanical brake58, which may cause the ferrous plate194to be pulled towards and contact the running surface22of the surface stator matrix24, as shown in view192.

In some embodiments, certain planned areas of the surface stator matrix24may provide a balanced (e.g., not applying a vectored force on the reaction plate74) pattern of magnetic fields that activate deployment of the mechanical brake58. In some embodiments, the mechanical brake58may be deployed when the magnetic field generated by the SSLIMs14is strong enough to overcome the force of the locking pin198holding the mechanical brake58in the undeployed position. It should be noted that the use of the mechanical brake58may be planned for certain portions of the roaming vehicle12motion profile or its use may be unplanned (e.g., in the case of an unexpected event). In some embodiments, the efficiency of the holding force used by the mechanical brake58may be small enough that the presence of a relatively low electromotive force threshold can be planned as an idle current allowing for a near minimum number of SSLIMs14to remain active for a minimum motion profile to motivate the mechanical brake58.

To retract the mechanical break, a spring return200attached to a base202of the mechanical brake58may pull the mechanical brake58back into slot204when the magnetic field (e.g., electromotive force) attracting the ferrous plate194is reduced (e.g., not strong enough to overcome the pulling force of the spring return200) or turned off. When retracted, the mechanical brake58may be locked into the undeployed position by the locking pin198being reinserted into the recess196.

There may be more than one mechanical brake58used by a roaming vehicle12, and they may be arranged relative to the casters72. For example,FIG. 17is an overhead schematic of a number of mechanical brake58and caster72locations in the reaction plate74of the roaming vehicle12, in accordance with an embodiment. It should be understood that the size and/or number of the mechanical brakes58may be determined based on the planned mass for the roaming vehicle12(e.g., planned mass of vehicle components and occupying patrons) and the velocity of the roaming vehicle12. In some embodiments, the number and/or size of the mechanical brakes58may be determined based on the highest planned velocity for a roaming vehicle motion profile and a largest planned mass for the roaming vehicle12. This may enable providing sufficient holding force when the mechanical brakes58are deployed to handle upper-bound scenarios. Further, in some embodiments, when the roaming vehicle12is traveling at lesser than the highest planned velocity, not all of the mechanical brakes58may be deployed. That is, the number of mechanical brakes58that are deployed may depend on how much holding force is needed to stop the roaming vehicle12based on the velocity and mass of the roaming vehicle12. In the depicted embodiment, five mechanical brakes58are included in the reaction plate74of the roaming vehicle12. One mechanical brake58is located in each of four corners of the reaction plate74and one mechanical brake58is located in the center of the reaction plate74. It should be understood that any suitable number of mechanical brakes58may be used.

The number of casters72and the location of the casters72at each point on the reaction plate74may vary as desired to maintain a sufficient air gap between the reaction plate74and the SSLIMs14. For example, if the reaction plate74does not include casters72at certain portions of the reaction plate74, those portions may wobble (e.g., move up and down) while the roaming vehicle12traverses the surface stator matrix24. The up and down movement of the portions of the reaction plate74may vary the distance of the air gap and reduce efficiency of the SSLIMs14. Also, the size of the casters72may be reduced to enable a relatively minor air gap between the reaction plate74and the SSLIMs14. As depicted, the reaction plate74includes six casters72: two on the left and right sides of the reaction plate74, one on the front of the reaction plate74, and one on the back of the reaction plate74. Such an arrangement may inhibit up and down movement of the reaction plate74as the roaming vehicle12traverses the surface stator matrix24to maintain a precise air gap. It should be understood that any suitable number, size, and/or location of the casters72may be used to maintain the precise air gap.

FIGS. 18-21are flow diagrams of various processes for braking or holding the roaming vehicle12and/or releasing the roaming vehicle12. Although the following description of the processes inFIGS. 18-21are described as being performed by the control system18, it should be noted that some or all of the processes may be performed by other control devices that may be capable of communicating with the control system18, the position monitoring system16, and/or the motor drive matrix20, such as a the roaming vehicle12, computing device, or other component associated with the propulsion system10. Additionally, although the following processes describe a number of operations that may be performed, it should be noted that the processes may be performed in different orders and that certain operations may not be performed. The processes may be implemented as computer instructions stored on the memory32of the control system18.

With the foregoing in mind,FIG. 18is a flow diagram of a process210for deploying the mechanical brake58ofFIG. 16, in accordance with an embodiment. The control system18may receive (212) a request to brake. The request to brake may be received from the roaming vehicle12(e.g., based on user input), may be received as part of the motion profile obtained from the memory32, or the like.

The control system18may determine (block214) the position of the roaming vehicle12using vehicle information from the position monitoring system16or from the position tracking system70. That is, the control system18may determine the position of the roaming vehicle12relative to the surface stator matrix24based on the vehicle information received.

The control system18may send (block216) a control signal to the roaming vehicle12to actuate (e.g., retract) the locking pin198of one or more mechanical brakes58. The control system18may also send (218) a control signal to the appropriate motor drives48and/or switching panel50to control the SSLIMs14near the roaming vehicle12to provide a magnetic field with sufficient strength to pull the ferrous material of the one or more mechanical brakes58to contact the surface of the running surface22. The holding force of the one or more deployed mechanical brakes58may cause the roaming vehicle12to stop moving.

FIG. 19is a flow diagram of a process220for retracting the mechanical brake58ofFIG. 16, in accordance with an embodiment. The control system18may receive (block222) a request to move the roaming vehicle12while one or more mechanical brakes58are deployed. The request may be received from the roaming vehicle12(e.g., based on user input), may be received as part of the motion profile obtained from the memory32, or the like.

The control system18may determine (block224) the position of the roaming vehicle12using vehicle information from the position monitoring system16or from the position tracking system70. That is, the control system18may determine the position of the roaming vehicle12relative to the surface stator matrix24based on the vehicle information received.

The control system18may send (block226) a control signal to appropriate motor drives48and/or switching panel50to control the SSLIMs14providing the magnetic field attracting the mechanical brake58such that the brake58retracts. That is, the magnetic field generated by the SSLIMs14may be reduced to an insufficient strength to overcome the force of the spring return200, thereby enabling the spring return200to pull the mechanical brake58away from the SSLIMs14into slot204for storage. Once the mechanical brake58is retracted into slot204, the control system18may send a control signal to the roaming vehicle12to actuate (e.g., deploy) the locking pin198into recess196to secure the mechanical brake58in the undeployed position.

FIG. 20is a flow diagram of a process230for applying magnetic force using the SSLIMs14to hold the roaming vehicle12in place, in accordance with an embodiment. The control system18may receive (block232) a request to slow down or stop the roaming vehicle12. The request may be received from the roaming vehicle12(e.g., based on user input), may be received as part of the motion profile obtained from the memory32, or the like.

The control system18may determine (block234) the position of the roaming vehicle12using vehicle information from the position monitoring system16or from the position tracking system70. That is, the control system18may determine the position of the roaming vehicle12relative to the surface stator matrix24based on the vehicle information received.

The control system18may send (block236) control signals to the appropriate motor drives48and/or switching panel50to control the SSLIMs14near the roaming vehicle12(e.g., underneath and/or around the location of the roaming vehicle12) to hold the roaming vehicle12in place. In some embodiments, one SSLIM14underneath the front, back, left side, and right side of the reaction plate74may generate near equal and balanced thrust towards the center of the reaction plate74. As a result, no thrust vector may be generated and the roaming vehicle12may be held in a stationary position. As discussed above, a similar scenario may occur when the SSLIMs14on equivalent positions on opposite sides of the reaction plate74thrust towards the outer edges of the reaction plate74.

FIG. 21is a flow diagram of a process240for releasing the holding magnetic force using the SSLIMs14to enable the roaming vehicle12to move, in accordance with an embodiment. The control system18may receive (block242) a request to move the roaming vehicle12while the magnetic field of the SSLIMs14is holding the roaming vehicle12in place. The request may be received from the roaming vehicle12(e.g., based on user input), may be received as part of the motion profile obtained from the memory32, or the like.

The control system18may determine (block244) the position of the roaming vehicle12using vehicle information from the position monitoring system16or from the position tracking system70. That is, the control system18may determine the position of the roaming vehicle12relative to the surface stator matrix24based on the vehicle information received.

The control system18may send (block246) control signals to the appropriate motor drives48and/or switching panel50to control the SSLIMs14holding the roaming vehicle12in place to change or remove the magnetic field to enable the roaming vehicle12to move. For example, the control system18may change the thrust vector generated by the SSLIMs14by commanding that one or more SSLIMs underneath the reaction plate74to generate thrust in the reaction plate74in a forward direction. As a result of the changed thrust vector, the roaming vehicle12may be released from the stationary position and be motivated in the direction of the thrust vector.

As previously discussed, the magnetic field generated by the SSLIMs14may be harnessed to power onboard electronics of the roaming vehicle12. To that end,FIG. 22is a schematic diagram illustrating using an induction coil79on the reaction plate74to pick up energy from the SSLIM14to power the onboard electronics (e.g., processor52, memory54, communication module56, power supply60, wireless directional controller62, speakers64, lights66, restraint locks68, position tracking system70) of the roaming vehicle12, in accordance with an embodiment. As depicted, one or more rectifiers and/or power conditioners76may be used to convert, condition, amplify, or some combination thereof, the inducted energy from the magnetic field generated by the SSLIM14. For example, the rectifier may78may convert the AC power to DC power that is used to power the onboard electronics. In some embodiments, the size of an air gap252between the reaction plate74and the SSLIM14may affect the strength of the induction field generated by the SSLIM14and the amount of energy picked up by the induction coil79. Thus, it may be desirable to maintain a relatively small air gap252to enhance the induction field.