Patent Description:
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.

Document <CIT> discloses a motion control mechanism relating to systems and methods for braking or launching a ride vehicle.

Document <CIT> discloses a compact motor with a coil geography providing an energy efficient operation within the field of high precision motors for use in lithography systems. Document <CIT> discloses an adaptive magnetic levitation apparatus that includes a base array of computer-controlled electromagnets, for providing movement of a levitated platform in two or three dimensions.

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; wherein the reaction plate comprises a non-ferrous conductor; 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, the two windings being individually energisable to generate magnetic fields that provide a first force in a first direction and a second force in a second coplanar direction as the reaction plate of each of the one or more roaming vehicles passes through the magnetic fields, thereby producing a force vector in any direction across the surface stator matric on the one or more roaming vehicles; 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 for each activated SSLIM, adjust the current supplied to the windings 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 generate force vectors to produce the motion profile, wherein the motor drives control the plurality of SSLIMs to produce the motion profile by activating a subset of the plurality of SSLIMs underneath the reaction plate in time to generate a force vector in the reaction plate that causes the one or more roaming vehicles to follow a path specified by the desired motion profile as the one or more roaming vehicles traverse the running surface.

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 one or more roaming vehicles comprise a reaction plate attached to a bottom of each respective roaming vehicle of the one or more roaming vehicles, wherein the reaction plate comprises a non-ferrous conductor, wherein the surface stator matrix comprises a plurality of single sided linear induction motors (SSLIMs) each including two windings arranged orthogonal to each other, the two windings being individually energisable to generate magnetic fields that provide a first force in a first direction and a second force in a second coplanar direction as the reaction plate of each of the one or more roaming vehicles passes through the magnetic fields, thereby producing a force vector in any direction across the surface stator matrix on 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, for each activated SSLIM, adjusting the current supplied to the windings 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 configured to electrically couple to the plurality of SSLIMs via a switching panel, to control the selection of the plurality of SSLIMs to generate force vectors to produce the motion profile, wherein the motor drives control the plurality of SSLIMs to produce the motion profile by activating a subset of the plurality of SSLIMs underneath the reaction plate in time to generate a force vector in the reaction plate that causes the one or more roaming vehicles to follow a path specified by the desired motion profile as the one or more roaming vehicles traverse the running surface.

Further embodiments are defined by the appended claims.

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> is a schematic of an embodiment of a propulsion system <NUM> for controlling the transportation of a roaming vehicle <NUM> that includes single sided linear induction motors (SSLIMs) <NUM>, a position monitoring system <NUM>, a control system <NUM>, and a motor drive matrix <NUM>, in accordance with an embodiment. Although just one roaming vehicle <NUM> is depicted, it should be understood that the propulsion system <NUM> may be used to control the transportation of numerous roaming vehicles <NUM> (e.g., between <NUM> and <NUM>). As depicted, the roaming vehicle <NUM> is disposed on a two-dimensional (e.g., including x- and y-axes) running surface <NUM> (e.g., a floor) that includes a matrix <NUM> of installed SSLIMs <NUM>. The matrix <NUM> may be referred to as the surface stator matrix <NUM> herein. The SSLIMs <NUM> may be constructed as tile blocks for the running surface <NUM>, as described in detail below. Each roaming vehicle <NUM> may 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 vehicle <NUM>. As described below, the reaction plate may include a non-ferrous conductor (e.g., aluminum, copper, zinc, amalgam of brass and copper). The SSLIMs <NUM> may each represent a stator and the reaction plate and the steel backing plate of the roaming vehicle <NUM> may represent a rotor, when the SSLIMs <NUM> and the reaction plate interact to produce motion of the roaming vehicle <NUM>. As described in detail below, the surface stator matrix <NUM> may be controlled using the position monitoring system <NUM>, the control system <NUM>, and the motor drive matrix <NUM>.

Although the following discussion focuses on SSLIMs <NUM> being used in the propulsion system <NUM>, 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 vehicle <NUM>, or vice versa.

Returning to the depicted embodiment including the SSLIMs <NUM>, the number and size of the SSLIMs <NUM> included in the surface stator matrix <NUM> disposed in the running surface <NUM> may be influenced by one or more factors. For example, the SSLIMs <NUM> to reaction plate ratio may influence motion performance (e.g., speed and direction of movement) of the roaming vehicle <NUM>. A greater number of SSLIMs <NUM> interacting with a reaction plate may result in finer steering motion control with diminished acceleration. In contrast, a smaller number of SSLIMs <NUM> per reaction plate may result in higher acceleration and gross motion control. The density of SSLIMs <NUM> in the running surface <NUM> may be determined based on desired performance of the roaming vehicle <NUM>. Additionally, some SSLIMs <NUM> may be different sizes (e.g., larger) than other SSLIMs <NUM>. In some embodiments, various portions of the running surface <NUM> may include different densities of SSLIMs <NUM> than other portions based on the desired performance. When the SSLIMs <NUM> are placed in the surface stator matrix <NUM>, the SSLIMs <NUM> may be activated to control the motion of the roaming vehicle <NUM>.

In some embodiments, the SSLIMs <NUM> may be bi-directional because each SSLIM <NUM> may include windings <NUM> and <NUM> that are arranged or installed orthogonally to each other, as depicted in the overhead view of the SSLIM <NUM> in <FIG>. The windings <NUM> and <NUM> may each be wound around a respective layered steel laminate <NUM> and <NUM> adhered together to form the SSLIMs <NUM>. The SSLIMs <NUM> may be placed in a slat and encased in an epoxy to create tile blocks <NUM> (e.g., plastic resin block). The tile blocks <NUM> including the SSLIMs <NUM> may be installed in a grid pattern to form the running surface <NUM>.

To propel the roaming vehicle <NUM> around the running surface <NUM>, an electric current may be applied to the appropriate windings <NUM> and <NUM> of the SSLIMs <NUM> to thrust the roaming vehicle <NUM> in a desired direction. The windings <NUM> and <NUM> may 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 vehicle <NUM>. The amount of acceleration of the roaming vehicle <NUM> may be proportional to the sum magnetic field produced by the SSLIMs <NUM>. The sum magnetic field may be controlled by the amount of electric current supplied to the windings <NUM> and <NUM> of the SSLIMs <NUM>.

One winding <NUM> may provide a first motive force in a first direction and another winding <NUM> may provide a second motive force in a second direction, depending on how the SSLIM <NUM> is arranged in the surface stator matrix <NUM>. 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 <NUM> degrees from and coplanar with the first direction. In addition, each winding <NUM> and <NUM> can provide a forward and a backward direction of thrust by reversing the polarity of the magnetic field produced by the winding <NUM> and <NUM>. Thus, using orthogonally arranged windings <NUM> and <NUM>, each of the SSLIMs <NUM> may provide four directions of thrust as desired. As a result, the SSLIMs <NUM> may be controlled in coordination to thrust the roaming vehicle <NUM> in any direction and/or stop the roaming vehicle <NUM> on the running surface <NUM> as desired. That is, various combinations of SSLIMs <NUM> may be activated to produce a force vector in any desired direction to move the roaming vehicle <NUM>. In some embodiments, the SSLIMs <NUM> may include one winding and may be positioned orthogonal to another SSLIM <NUM> that includes one winding.

It should be noted that the motor drive matrix <NUM> may control the strength of the magnetic field generated by the windings <NUM> and <NUM>, in addition to the polarity, by adjusting the current supplied to the windings <NUM> and <NUM>. That is, an increase in current may cause a stronger magnetic field to be emitted that increases acceleration of the roaming vehicle <NUM> when the reaction plate of the roaming vehicle <NUM> passes 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 vehicle <NUM> as its reaction plate reacts with the magnetic field generated by the SSLIMs <NUM>.

Returning to <FIG>, there may be numerous (e.g., between <NUM> and <NUM>) SSLIMs <NUM> located underneath the reaction plate at any given position of the roaming vehicle <NUM> on the running surface <NUM>. To move the roaming vehicle <NUM> in a given direction and at a certain speed, a combination of the SSLIMs <NUM> underneath the reaction plate may be turned on and off in time to react with the reaction plate of the roaming vehicle <NUM> as the roaming vehicle <NUM> traverses the running surface <NUM>. For example, to move the roaming vehicle <NUM> forward, one or more SSLIMs <NUM> located 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 vehicle <NUM> to spin, a SSLIM <NUM> located 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 SSLIM <NUM> in the front may cause thrust left and the SSLIM <NUM> in the back cause thrust right so the roaming vehicle <NUM> spins as it moves forward. Applying current to SSLIMs <NUM> in a more complex pattern may, for example, result in curved motion of the roaming vehicle <NUM> as it translates across the running surface <NUM>. Such scenarios and numerous other roaming vehicle <NUM> motion examples are described below.

The position of the roaming vehicles <NUM> may be observed by the position monitoring system <NUM>. The position monitoring system <NUM> may determine vehicle information related to the position and the velocity of the roaming vehicle <NUM> and send the vehicle information to the control system <NUM>. The control system <NUM> may determine which SSLIMs <NUM> to power and when to power them based at least on the vehicle information and the desired motion profile of the roaming vehicle <NUM>. Then, the control system <NUM> may send control signals to the motor drive matrix <NUM> to drive the SSLIMs <NUM> accordingly to propel the roaming vehicle <NUM>.

As previously noted, the disclosed embodiments may enable changes to the motion profile of the roaming vehicles <NUM>, 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 vehicle <NUM> and the SSLIMs <NUM> may be controlled accordingly to thrust the roaming vehicle <NUM> in the desired direction. Further, the control system <NUM> may store a number of preconfigured roaming vehicle motion profiles that steer the roaming vehicle <NUM> around stationary obstacles on the running surface <NUM>. The preconfigured roaming vehicle motion profiles may identify which SSLIMs <NUM> to activate and when to activate them based on the path and velocity of the roaming vehicle <NUM>. When the obstacles on the running surface <NUM> are rearranged (e.g., a ride is redesigned), a new roaming vehicle motion profile may be preconfigured and executed by the control system <NUM>. Thus, some embodiments of the present disclosure may provide a patron with a different experience during each ride.

The propulsion system <NUM> may include various components that enable the embodiments discussed above. For example, <FIG> is a block diagram of example components of the propulsion system <NUM>. The propulsion system <NUM> may include the surface stator matrix <NUM>, one or more roaming vehicles <NUM>, the control system <NUM>, the position monitoring system <NUM>, and the motor drive matrix <NUM>. As previously discussed, the propulsion system <NUM> may be configured to control the transportation of the roaming vehicle <NUM> across the running surface <NUM> where the surface stator matrix <NUM> is installed. The control system <NUM>, the position monitoring system <NUM>, the motor drive matrix <NUM>, the roaming vehicle <NUM>, and the surface stator matrix <NUM> may include various components that enable controlled movement of the roaming vehicle <NUM>.

The control system <NUM> may include a processor <NUM>, a memory <NUM>, a communication module <NUM>, and a power supply <NUM>. The processor <NUM>, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory <NUM>, 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 processor <NUM> to control aspects of the presently disclosed embodiments, such as determining which SSLIMs <NUM> to activate and the magnitude and direction of their magnetic fields. The memory <NUM> may also be used to store the vehicle information received from the position monitoring system <NUM>.

The communication module <NUM> may be a wireless or wired communication component that may facilitate communication with the position monitoring system <NUM>, the roaming vehicle <NUM>, and the motor drive matrix <NUM>. As such, the communication module <NUM> may 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 SSLIMs <NUM> to activate and performance (magnitude and direction of the magnetic fields) of the SSLIMs <NUM>, the processor <NUM> may instruct the communication module <NUM> to send command instructions (e.g., SSLIM <NUM> identifier, activation/deactivation timing, force direction, amount of force to apply) to the motor drive matrix <NUM>, which may supply electric current to the SSLIMs <NUM> accordingly. The power supply <NUM> may be any suitable power supply, including, but not limited to, a battery, for the control system <NUM>.

The position monitoring system <NUM> may include a processor <NUM>, a memory <NUM>, a communication module <NUM>, and a sensor <NUM>. It should be noted that although the position monitoring system <NUM> is depicted as a separate component from the control system <NUM>, in some embodiments, the position monitoring system <NUM> may be included in the control system <NUM>. The processor <NUM>, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory <NUM>, 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 processor <NUM> to acquire vehicle information about the roaming vehicle <NUM>, such as position and velocity of the roaming vehicle <NUM>, and transmit the vehicle information to the control system <NUM>, among other things. The memory <NUM> may also be used to store the vehicle information acquired by the sensor <NUM>.

The communication module <NUM> may be a wireless or wired communication component that may facilitate communication with the control system <NUM> and/or the roaming vehicle <NUM>. As such, the communication module <NUM> may include a wireless card or data port (e.g., Ethernet connection) capable of transmitting and receiving data. The sensor <NUM> may include an optic system that utilizes a camera to enable the position monitoring system <NUM> to track certain vehicle information (e.g., position of roaming vehicle <NUM> and/or velocity of roaming vehicle <NUM>). In some embodiments, the processor <NUM> and the communication module <NUM> may use signal (e.g., radio) triangulation to triangulate a signal emitted from the roaming vehicle <NUM> through a network to which the position monitoring system <NUM> and the roaming vehicle <NUM> are connected. Once triangulated, the processor <NUM> may determine the location of the roaming vehicle <NUM> on the surface stator matrix <NUM>. The vehicle information obtained by the position monitoring system <NUM> may be sent to the control system <NUM>, which in turn determines which SSLIMs <NUM> to activate/deactivate and/or the performance (direction and strength of the magnetic fields) of the SSLIMs <NUM>. The power supply <NUM> may be any suitable power supply, including, but not limited to, a battery, for the position monitoring system <NUM>.

The motor drive matrix <NUM> may include a plurality of motor drives <NUM>. The motor drives <NUM> may 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 SSLIMs <NUM>) by varying input frequency and voltage to the windings of the SSLIMs <NUM>. The number of motor drives <NUM> may be less than the total number of SSLIMs <NUM> included in the surface stator matrix <NUM>. That is, in some embodiments, there may not be a one-to-one relationship between the number of motor drives <NUM> and SSLIMs <NUM> because only the SSLIMs <NUM> used in the roaming vehicle motion profile may be activated at any given time.

To enable using less motor drives <NUM> than SSLIMs <NUM>, the processor <NUM> of the control system <NUM> may multiplex the motor drives <NUM> to control only those SSLIMs <NUM> that 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 drives <NUM> to multiplex, in one embodiment, the processor <NUM> considers the number of total windings of the SSLIMs <NUM> needed to motivate the roaming vehicle <NUM> based on factors such as static friction, rolling friction, inertia, maximum acceleration and velocity, and/or braking acceleration. The control system <NUM> may send control signals to a switching panel <NUM> (e.g., solid state switching panel) of the motor drive matrix <NUM> to control the motor drives <NUM> to drive the appropriate SSLIMs <NUM> at a particular time and continuously switch the control of the next SSLIMs <NUM> in the vehicle motion profile to available motor drives <NUM> to move the roaming vehicle <NUM> around the surface stator matrix <NUM> based on where the roaming vehicle <NUM> is located. Thus, in some embodiments, the number of motor drives <NUM> used may be less than the number of SSLIMs <NUM>. In one embodiment, windings <NUM> and <NUM> of the SSLIMs <NUM> are wired directly to the switching panel <NUM> that switches the control of the SSLIMs <NUM> between motor drives <NUM> and/or directly to the motor drives <NUM>. In this way, the motor drives <NUM> may be electrically coupled to the SSLIMs <NUM>. 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 system <NUM>. However, in some embodiments, the same number of motor drives <NUM> and SSLIMs <NUM> may be used.

Regarding the roaming vehicle <NUM>, its components may include a processor <NUM>, a memory <NUM>, a communication module <NUM>, a mechanical brake <NUM>, a power supply <NUM>, a wireless directional controller <NUM>, speakers <NUM>, lights <NUM>, a restraint lock <NUM>, a position tracking system <NUM>, casters <NUM>, a reaction plate (e.g., rotor) <NUM>, a rectifier and power conditioner <NUM>, and/or an induction coil <NUM>. The processor <NUM>, which may represent one or more processors, may be any type of computer processor or microprocessor capable of executing computer-executable code. The memory <NUM>, 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 processor <NUM> to perform the presently disclosed techniques, such as controlling the onboard electronics (communication module <NUM>, wireless directional controller <NUM>, position tracking system <NUM>, speakers <NUM>, lights <NUM>, restraint locks <NUM>, etc.) and/or brake <NUM>. In some embodiments, the memory <NUM> may 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 module <NUM> may be a wireless communication component that may facilitate communication with the control system <NUM> and/or the position monitoring system <NUM>. As such, the communication module <NUM> may include a wireless card capable of transmitting and receiving data. For example, the processor <NUM> may instruct the communication module <NUM> to send the vehicle information to the control system <NUM> so the control system <NUM> can determine which SSLIMs <NUM> to activate and how the SSLIMs <NUM> should be activated.

To enable movement of the roaming vehicle <NUM>, the roaming vehicle <NUM> includes the reaction plate <NUM>, casters <NUM>, and the mechanical brake <NUM>. The movements of the roaming vehicle <NUM> may include accelerating, decelerating, turning, and stopping of the roaming vehicle <NUM>. The reaction plate <NUM> may 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 vehicle <NUM>. In such embodiments, the reaction plate may encompass as much of the bottom area (or possibly larger) of the roaming vehicle <NUM> to provide sufficient surface area for interaction with the magnetic fields generated by the SSLIMs <NUM>. 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 casters <NUM> may include any suitable rolling equipment, such as wheels, that enables multi-directional and unlimited orientation on the running surface <NUM>. In some embodiments, the casters <NUM> may be used to maintain an air gap between the stator <NUM> and the reaction plate <NUM>, which increases efficiency of propulsion using the SSLIMs <NUM> by mitigating energy losses due to friction. In some embodiments, as described further below, the mechanical brake <NUM> may include a ferrous plate and a braking material on the ferrous plate. The ferrous plate is attracted to the magnetic field generated by the SSLIMs <NUM> underneath the reaction plate, which pulls the brake <NUM> down to contact the running surface <NUM>. The braking material provides friction between the brake <NUM> and the running surface <NUM> to slow or stop the roaming vehicle <NUM>.

As discussed above, the roaming vehicle <NUM> may not include a power system that is used to supply power to a motor (SSLIM <NUM>). As such, the roaming vehicle <NUM> may be lighter than other roaming vehicles <NUM> that include a power system. However, in some embodiments, the roaming vehicle <NUM> may include a power supply <NUM> that is charged using energy obtained by the induction coil <NUM> on the reaction plate <NUM> from the magnetic field of the SSLIMs <NUM>. In some embodiments, the energy inducted may be rectified and conditioned by the rectifier and power conditioner <NUM> and used to power onboard electronics, such as the processor <NUM>, the memory <NUM>, the communication module <NUM>, wireless directional controller <NUM>, the speakers <NUM>, the lights <NUM>, the position tracking system <NUM>, and/or restraint locks <NUM>.

The speakers <NUM> and/or the lights <NUM> may be controlled by the processor <NUM> during certain parts of the ride to enhance the theme of the ride or enhance show elements in the roaming vehicle <NUM>. Further, the user may use the wireless directional controller <NUM> to guide the roaming vehicle <NUM> around the surface stator matrix <NUM>. For example, the desired direction may be transmitted to the control system <NUM>, which may determine which SSLIMs <NUM> to activate to thrust the roaming vehicle <NUM> in the desired direction based on the user input. In some embodiments, the wireless directional controller <NUM> may be limited to enable the user to spin the roaming vehicle <NUM> but not actually control the gross movement direction of the roaming vehicle <NUM>, or vice-versa. For example, the user may spin the roaming vehicle <NUM> during a ride to look at a different scene or shoot at a target but the roaming vehicle <NUM> is still transported along a set path. The restraint locks <NUM> may be used to restrain the patrons in the roaming vehicle <NUM> (e.g., while the roaming vehicle <NUM> is in motion and/or stationary).

The position tracking system <NUM> may monitor the position of the roaming vehicle <NUM> on the surface stator matrix <NUM>. In one embodiment, the position tracking system <NUM> interacts with sensors on the surface stator matrix <NUM>. Each sensor represents a unique location (e.g., coordinates relative to one or more reference points) on the surface stator matrix <NUM>. In such an embodiment, the position tracking system <NUM> includes a reader that may read the sensors to determine the position of the roaming vehicle <NUM> on the surface stator matrix <NUM>. The reader may then supply the position information to the control system <NUM>, which in turn determines which SSLIMs <NUM> to activate and how each should be activated. In some embodiments, the position tracking system <NUM> may include RFID tags and/or emitted lasers to provide and/or acquire position information. In embodiments where the position monitoring system <NUM> tracks the vehicle information utilizing the sensor <NUM>, the roaming vehicles <NUM> may not include the position tracking system <NUM>. While <FIG> illustrates the tracking system <NUM> on the roaming vehicle <NUM>, 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 vehicle <NUM> and configured to monitor location or positioning thereof. Further, in some embodiments, the only power and control onboard the roaming vehicle <NUM> is 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 vehicle <NUM>) provides for efficient vehicle design and algorithmic control off board. Additionally or alternatively, the position tracking system <NUM> of the roaming vehicle <NUM> and the position monitoring system <NUM> may work in concert to acquire vehicle information (e.g., position and/or velocity) to send to the control system <NUM>.

In some embodiments, the surface stator matrix <NUM> may include the SSLIMs (stators) <NUM> and an air supply <NUM>. As previously discussed, the SSLIMs <NUM> may be included in tile blocks <NUM>. The tile blocks <NUM> may be arranged on a grid of the matrix <NUM> based on the desired performance of portions of the surface stator matrix <NUM> (e.g., larger SSLIMs <NUM> may be placed in portions where high acceleration and deceleration are desired). The tile blocks <NUM> may be readily removable from the surface stator matrix <NUM> to 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 vehicles <NUM>. In some embodiments, there may be a certain amount of distance between the tile blocks <NUM> (e.g., between <NUM> centimeter and <NUM> 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 blocks <NUM> should be relatively thin and non-metallic.

In some embodiments, the architecture of the surface stator matrix <NUM> may enable a robust backup capability. For example, when a relatively small number of SSLIMs <NUM> do not operate as desired, the control system <NUM> may control an adjacent SSLIM <NUM> to produce the desired magnetic field. In some scenarios, the adjacent SSLIM <NUM> may be located underneath the reaction plate <NUM> or near the reaction plate <NUM> and may produce an induction field that motivates the reaction plate <NUM>. However, in some embodiments, off tangent force vectoring may cause the use of the adjacent SSLIMs <NUM> to 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 SSLIMs <NUM> resulting in the planned motion profile and desired thrust vector as the roaming vehicle <NUM> traverses the surface stator matrix <NUM>. The control system <NUM> may use the closed-loop feedback to detect the loss of certain windings of the SSLIMs <NUM> through back calculation of the resultant roaming vehicle <NUM> motion.

In some embodiments, when casters <NUM> are not used, the air supply <NUM> may be used to blow air through holes in the running surface <NUM> and float the roaming vehicle <NUM> on an air bearing. In this embodiment, there are no contact points between the roaming vehicle <NUM> and the running surface <NUM>, and the SSLIMs <NUM> are controlling the position and rotation of the roaming vehicle <NUM>. 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 system <NUM>, an embodiment of a process <NUM> for controlling the transportation of one or more roaming vehicles <NUM> using the propulsion system <NUM> is illustrated by the flow diagram in <FIG>. Although the following description of the process <NUM> is described as being performed by the control system <NUM>, it should be noted that some or all of the process <NUM> may be performed by other control devices that may be capable of communicating with the control system <NUM>, the position monitoring system <NUM>, and/or the motor drive matrix <NUM>, such as a computing device or other component associated with the propulsion system <NUM>. Additionally, although the following process <NUM> describes a number of operations that may be performed, it should be noted that the process <NUM> may be performed in different orders and that certain operations may not be performed. The process <NUM> may be implemented as computer instructions stored on the memory <NUM> of the control system <NUM>.

In the illustrated embodiment of the process <NUM>, the control system <NUM> may receive (block <NUM>) roaming vehicle information. The roaming vehicle information may be received from the position monitoring system <NUM> and/or the roaming vehicle <NUM> and may include information for one or more roaming vehicles <NUM> disposed on the running surface <NUM>. The roaming vehicle information may include a position (data <NUM>) of the roaming vehicle <NUM> on the running surface <NUM>, a velocity (data <NUM>) of the roaming vehicle <NUM>, and/or a mass (data <NUM>) of the roaming vehicle <NUM>.

The control system <NUM> may receive (block <NUM>) the desired motion profile (e.g., path, velocity) for the roaming vehicle <NUM>. In some embodiments, the desired motion profile may be preconfigured (data <NUM>) that includes the path for the roaming vehicle <NUM> and/or the desired velocities of the vehicle <NUM> at each portion of the surface stator matrix <NUM>. In such an embodiment, the preconfigured motion profile may be obtained from the memory <NUM>. Additionally or alternatively, the desired motion profile may include directions based on user input (data <NUM>). As previously discussed, the user input may enable the user to rotate the roaming vehicle <NUM> while the preconfigured path of the roaming vehicle <NUM> is still followed, the user input may enable the user to actually control the direction where the roaming vehicle <NUM> travels, the user input may enable the user to increase acceleration or deceleration of the roaming vehicle <NUM>, or some combination thereof.

The control system <NUM> may determine (block <NUM>) which SSLIMs <NUM> to 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 system <NUM> may already know the position of the roaming vehicle <NUM> and may only use the motion profile to determine which SSLIMs <NUM> to activate, the times at which to activate each SSLIM <NUM>, and the amount of thrust to generate as the roaming vehicle <NUM> traverses the surface stator matrix <NUM>. However, in some embodiments, where the motion profile dynamically changes (e.g., based on user input), the control system <NUM> may use the position <NUM> of the roaming vehicle <NUM> to determine which SSLIMs <NUM> are underneath or nearby the roaming vehicle <NUM> and select to activate those SSLIMs <NUM> as the roaming vehicle <NUM> traverses the surface stator matrix <NUM> (e.g., while deactivating SSLIMs <NUM> that are not selected). In some embodiments, a certain percentage of SSLIMs <NUM> around the roaming vehicle <NUM> may be activated to improve efficiency.

Further, in some embodiments, determining the number of SSLIMs <NUM> to activate may depend on the velocity <NUM> of the roaming vehicle <NUM>. For example, when first starting the roaming vehicle <NUM> in motion, it may be desirable to activate all SSLIMs <NUM> underneath the reaction plate to generate higher power and acceleration. When the roaming vehicle <NUM> reaches a desired velocity, the control system <NUM> may reduce the density of SSLIMs <NUM> that are active in the particular direction because fewer SSLIMs <NUM> may 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 vehicle <NUM>, then the magnitude of the thrust vector and density of SSLIMs <NUM> used may be increased because changing direction may require more torque than proceeding in a straight line. Thus, the density of SSLIMs <NUM> that are selected to activate under the roaming vehicle <NUM> at any one time may depend on the torque demand and current motion vector of the roaming vehicle <NUM>.

It should be understood that the orthogonally arranged windings <NUM> and <NUM> of each SSLIM <NUM> may enable multi-directional movement of the roaming vehicle <NUM> to follow any motion profile. Each winding <NUM> and <NUM> may be individually energized. The force vector generated may be configured as desired because one winding <NUM> may provide a field in a first direction (e.g., forward or backward) and a second winding <NUM> may provide a field in a second direction (e.g., right or left). Used in combination, the windings <NUM> and <NUM> of the SSLIMs <NUM> may be activated to provide a force vector at any angle.

The control system <NUM> may send (block <NUM>) control signals to the motor drive matrix <NUM> to multiplex the motor drives <NUM> to control the SSLIMs <NUM> as desired. In some embodiments, the switching panel <NUM> may be used to connect the motor drives <NUM> to the appropriate SSLIMs <NUM>. The control system <NUM> may return to receiving roaming vehicle information at block <NUM> and repeat the process <NUM> to continuously navigate the roaming vehicle <NUM> around the running surface <NUM>.

To aid in visualizing the interaction between the reaction plate <NUM> of the roaming vehicle <NUM> and the surface stator matrix <NUM> under the running surface <NUM>, <FIG> illustrates an overhead schematic of the reaction plate <NUM> located above the surface stator matrix <NUM>. As previously discussed, the reaction plate <NUM> may 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 plate <NUM> and the bottom of the roaming vehicle <NUM>. As the magnetic field passes through the conductor of the reaction plate <NUM>, the steel backing plate may return the field back to the SSLIM <NUM>. 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 SSLIM <NUM> passes through the conductor.

As depicted, one or more casters <NUM> (e.g., <NUM>) may be attached to the base of the roaming vehicle <NUM>. The casters <NUM> may include wheels that are used to roll the roaming vehicle <NUM> around the running surface <NUM>. The casters <NUM> may be used to maintain a precise air gap between the reaction plate <NUM> and the surface stator matrix <NUM> to maintain an efficient induction field.

As previously discussed, the SSLIMs <NUM> of the surface stator matrix <NUM> may be included in tile blocks <NUM> and arranged in a grid pattern. In some embodiments, the sub-floor support <NUM> may be used to elevate the surface stator matrix <NUM> off of a foundation <NUM> and provide room for wiring space <NUM>, as illustrated in the cross-sectional view in <FIG>. The sub-floor support <NUM> may support a grid on which each of the tile blocks <NUM> including SSLIMs <NUM> is placed. The wiring of the SSLIMs <NUM> may be disposed in the wiring space <NUM> and may connect the SSLIMs <NUM> to the motor drives <NUM> and/or the switching panel <NUM>. The tile blocks <NUM> (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 windings <NUM> and <NUM> of the SSLIMs <NUM>.

<FIG> generally illustrate examples of how various SSLIMs <NUM> located underneath or near the reaction plate <NUM> may be controlled to provide different thrust vectors and move the roaming vehicle <NUM> in desired directions. It should be noted that the number of SSLIMs <NUM> applied in the same direction increases the thrust in that direction. Further, pulsing of the SSLIMs <NUM> may facilitate certain motions. The processor <NUM> may determine the number of SSLIMs <NUM> to 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 with <FIG>, an overhead schematic illustrates SSLIMs <NUM> being controlled to produce a thrust vector in a forward direction in the reaction plate <NUM>, in accordance with an embodiment. As indicated by arrows <NUM>, one or more SSLIMs <NUM> underneath the front, back, left side, and right side of the reaction plate <NUM> are 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 arrow <NUM>.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a counter-clockwise thrust vector (indicated by arrow <NUM>) in the reaction plate <NUM>, in accordance with an embodiment. The counter-clockwise thrust vector <NUM> may spin the roaming vehicle <NUM>. To produce the counter-clockwise thrust vector <NUM>, one or more SSLIMs <NUM> underneath the front and back of the reaction plate <NUM> may provide a thrust orthogonal (<NUM> degrees to the left and right) (arrow <NUM> and <NUM>) to the thrusts (arrows <NUM> and <NUM>) produced by one or more SSLIMs <NUM> underneath the sides of the reaction plate <NUM>. As depicted, the thrust <NUM> produced in the left side of the reaction plate <NUM> is in a backward direction and the thrust <NUM> produced in the right side of the reaction plate <NUM> is in a forward direction. As a result of the combined thrusts, the thrust vector <NUM> may spin the roaming vehicle <NUM> in a counter-clockwise direction.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce balanced thrust towards the edges of the reaction plate <NUM> so there is no thrust vector (dot <NUM>) applied to the reaction plate <NUM>, thereby holding the roaming vehicle <NUM> in place, in accordance with an embodiment. In particular, one or more SSLIMs <NUM> underneath the front and back of the reaction plate <NUM> may thrust in opposite directions towards the edges of the reaction plate <NUM>, as shown by arrow <NUM> representing thrust in a forward direction and arrow <NUM> representing thrust in a backward direction. In conjunction with the thrusts <NUM> and <NUM>, one or more SSLIMs <NUM> underneath the left and right sides of the reaction plate <NUM> may thrust in opposite directions towards the edges of the reaction plate <NUM>, as shown by arrow <NUM> representing thrust in a left direction and arrow <NUM> representing thrust in a right direction, to hold the reaction plate <NUM> in place. The thrusts <NUM>, <NUM>, <NUM>, and <NUM> may produce a balanced pattern of thrusts from the SSLIMs <NUM> that do not result in a vectored force applied to the reaction plate <NUM>.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a thrust vector (arrow <NUM>) in a forward and left direction in the reaction plate <NUM>, in accordance with an embodiment. The thrust vector <NUM> may be produced by one or more SSLIMs <NUM> underneath the front and back of the roaming vehicle <NUM> generating thrust (arrow <NUM>) in a forward direction and one or more SSLIMs <NUM> underneath the left and right sides of the roaming vehicle <NUM> generating thrust (arrow <NUM>) in a left direction. The combined thrusts may generate a thrust vector that provides an angled direction (e.g., <NUM> degrees) of travel for the roaming vehicle <NUM>.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a thrust vector (arrow <NUM>) in a forward and slightly left direction in the reaction plate, in accordance with an embodiment. Compared to thrust vector <NUM> of <FIG>, thrust vector <NUM> in <FIG> is angled left to a lesser degree as a result of activating more SSLIMs <NUM> underneath the front and back of the roaming vehicle <NUM> to generate more thrust (arrows <NUM>) in the forward direction than SSLIMs <NUM> underneath the left and right sides generating thrust (arrows <NUM>) in the left direction. That is, the resulting thrust vector <NUM> is directed more forward than to the left as a result of the thrust generated by the SSLIMs <NUM> underneath the front and back exceeding the thrust generated by the SSLIMs <NUM> underneath the left and right sides of the reaction plate <NUM>. It should be understood that the angle of direction of the thrust vector may be finely tuned by activating appropriate SSLIMs <NUM>.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a thrust vector (arrows <NUM>) in a forward direction while rotating counter-clockwise in the reaction plate <NUM>, in accordance with an embodiment. To generate the forward, counter-clockwise rotating thrust vector <NUM>, one or more SSLIMs <NUM> underneath the right and left sides of the reaction plate <NUM> may generate thrust (arrows <NUM>) in the forward direction and one or more SSLIMs <NUM> underneath the front and back of the reaction plate <NUM> may generate thrust (arrows <NUM> and <NUM>) in opposite directions that are orthogonal to the direction of side thrusts <NUM>. For example, thrust <NUM> is in a left direction and thrust <NUM> is in a right direction, which may cause the roaming vehicle <NUM> to spin counter-clockwise, while thrusts <NUM> cause the roaming vehicle <NUM> to move in a forward direction. It should be understood that the SSLIMs <NUM> may be controlled to spin the roaming vehicle <NUM> in a clockwise direction.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a strong thrust vector (arrow <NUM>) in a forward direction in the reaction plate <NUM> to increase acceleration, in accordance with an embodiment. As depicted, a higher density of SSLIMs <NUM> are activated and may generate thrusts (arrows <NUM>) in a forward direction. The higher density of SSLIMs <NUM> activated in the same direction increase the thrust in that vector.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a braking thrust vector (arrow <NUM>) in a forward direction in the reaction plate <NUM>, in accordance with an embodiment. The thrust vector arrow <NUM> is reduced in size to represent the effect of the braking thrust (arrows <NUM>) being generated by SSLIMs <NUM> underneath the reaction plate <NUM> on the thrust vector <NUM> while the roaming vehicle <NUM> is in motion. It should be noted that, to slow down the roaming vehicle <NUM> moving in a particular direction, the SSLIMs <NUM> underneath the roaming vehicle <NUM> may be controlled to generate thrust (arrows <NUM>) in an opposing direction to the direction of movement.

<FIG> is an overhead schematic illustrating SSLIMs <NUM> being controlled to produce a thrust vector (arrow <NUM>) in the reaction plate <NUM> that curve the forward motion of the roaming vehicle <NUM> to the right without rotating the roaming vehicle <NUM>, in accordance with an embodiment. Initially, the roaming vehicle <NUM> is traveling forward due to thrust (arrows <NUM>) generated by SSLIMs <NUM> underneath the roaming vehicle <NUM>. To curve the motion of the roaming vehicle <NUM>, the control system <NUM> may determine the position of the roaming vehicle <NUM> and instruct the motor drive matrix <NUM> to activate SSLIMs <NUM> in the motion path of the roaming vehicle <NUM> in time to interact with the reaction plate <NUM> as the roaming vehicle <NUM> traverses the running surface to direct the roaming vehicle <NUM> in the desired direction. In some embodiments, as illustrated, various rows of SSLIMs <NUM> may produce thrust in the desired direction incrementally. For example, to curve the motion of the roaming vehicle <NUM> to the right, a first row <NUM> of SSLIMs <NUM> may generate thrust (arrows <NUM>) in a right direction to force the vehicle <NUM> right in one increment. In the next increment, a second row <NUM> of SSLIMs <NUM> may generate thrust (arrows <NUM>) in a forward direction to keep the roaming vehicle <NUM> moving forward. Then, in the next increment, a third row <NUM> of SSLIMs <NUM> may generate thrust (arrows <NUM>) in the right direction to force the roaming vehicle <NUM> to the right. The control system <NUM> may control additional SSLIMs <NUM> in the motion path of the roaming vehicle <NUM> to continue to produce the curved motion by producing a sum thrust vector directed in any desired angle.

<FIG> is a side view of the mechanical brake <NUM> included in the roaming vehicle <NUM>, in accordance with an embodiment. In a first view, the mechanical brake <NUM> is shown as undeployed, and, in a second view <NUM>, the mechanical brake <NUM> is show as deployed. In some embodiments, the mechanical brake <NUM> may include a ferrous plate <NUM> (e.g., steel) with a brake pad material for high frictional µ. The brake pad material may provide sufficient friction to hold the mechanical brake <NUM> and roaming vehicle <NUM> in place when in contact with the running surface <NUM>. Further, the mechanical brake <NUM> may include a recess <NUM> in which a locking pin <NUM> is inserted to hold the mechanical brake <NUM> in the undeployed position as the mechanical brake <NUM> passes through magnetic fields generated by the SSLIMs <NUM> on the surface stator matrix <NUM>. To deploy the mechanical brake <NUM>, the control system <NUM> may send a control signal to the roaming vehicle <NUM> to release the locking pin <NUM>. The magnetic field generated by the SSLIMs <NUM> may attract the ferrous plate <NUM> of the mechanical brake <NUM>, which may cause the ferrous plate <NUM> to be pulled towards and contact the running surface <NUM> of the surface stator matrix <NUM>, as shown in view <NUM>.

In some embodiments, certain planned areas of the surface stator matrix <NUM> may provide a balanced (e.g., not applying a vectored force on the reaction plate <NUM>) pattern of magnetic fields that activate deployment of the mechanical brake <NUM>. In some embodiments, the mechanical brake <NUM> may be deployed when the magnetic field generated by the SSLIMs <NUM> is strong enough to overcome the force of the locking pin <NUM> holding the mechanical brake <NUM> in the undeployed position. It should be noted that the use of the mechanical brake <NUM> may be planned for certain portions of the roaming vehicle <NUM> motion 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 brake <NUM> may 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 SSLIMs <NUM> to remain active for a minimum motion profile to motivate the mechanical brake <NUM>.

To retract the mechanical break, a spring return <NUM> attached to a base <NUM> of the mechanical brake <NUM> may pull the mechanical brake <NUM> back into slot <NUM> when the magnetic field (e.g., electromotive force) attracting the ferrous plate <NUM> is reduced (e.g., not strong enough to overcome the pulling force of the spring return <NUM>) or turned off. When retracted, the mechanical brake <NUM> may be locked into the undeployed position by the locking pin <NUM> being reinserted into the recess <NUM>.

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

The number of casters <NUM> and the location of the casters <NUM> at each point on the reaction plate <NUM> may vary as desired to maintain a sufficient air gap between the reaction plate <NUM> and the SSLIMs <NUM>. For example, if the reaction plate <NUM> does not include casters <NUM> at certain portions of the reaction plate <NUM>, those portions may wobble (e.g., move up and down) while the roaming vehicle <NUM> traverses the surface stator matrix <NUM>. The up and down movement of the portions of the reaction plate <NUM> may vary the distance of the air gap and reduce efficiency of the SSLIMs <NUM>. Also, the size of the casters <NUM> may be reduced to enable a relatively minor air gap between the reaction plate <NUM> and the SSLIMs <NUM>. As depicted, the reaction plate <NUM> includes six casters <NUM>: two on the left and right sides of the reaction plate <NUM>, one on the front of the reaction plate <NUM>, and one on the back of the reaction plate <NUM>. Such an arrangement may inhibit up and down movement of the reaction plate <NUM> as the roaming vehicle <NUM> traverses the surface stator matrix <NUM> to maintain a precise air gap. It should be understood that any suitable number, size, and/or location of the casters <NUM> may be used to maintain the precise air gap.

<FIG> are flow diagrams of various processes for braking or holding the roaming vehicle <NUM> and/or releasing the roaming vehicle <NUM>. Although the following description of the processes in <FIG> are described as being performed by the control system <NUM>, 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 system <NUM>, the position monitoring system <NUM>, and/or the motor drive matrix <NUM>, such as a the roaming vehicle <NUM>, computing device, or other component associated with the propulsion system <NUM>. 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 memory <NUM> of the control system <NUM>.

With the foregoing in mind, <FIG> is a flow diagram of a process <NUM> for deploying the mechanical brake <NUM> of <FIG>, in accordance with an embodiment. The control system <NUM> may receive (<NUM>) a request to brake. The request to brake may be received from the roaming vehicle <NUM> (e.g., based on user input), may be received as part of the motion profile obtained from the memory <NUM>, or the like.

The control system <NUM> may determine (block <NUM>) the position of the roaming vehicle <NUM> using vehicle information from the position monitoring system <NUM> or from the position tracking system <NUM>. That is, the control system <NUM> may determine the position of the roaming vehicle <NUM> relative to the surface stator matrix <NUM> based on the vehicle information received.

The control system <NUM> may send (block <NUM>) a control signal to the roaming vehicle <NUM> to actuate (e.g., retract) the locking pin <NUM> of one or more mechanical brakes <NUM>. The control system <NUM> may also send (<NUM>) a control signal to the appropriate motor drives <NUM> and/or switching panel <NUM> to control the SSLIMs <NUM> near the roaming vehicle <NUM> to provide a magnetic field with sufficient strength to pull the ferrous material of the one or more mechanical brakes <NUM> to contact the surface of the running surface <NUM>. The holding force of the one or more deployed mechanical brakes <NUM> may cause the roaming vehicle <NUM> to stop moving.

<FIG> is a flow diagram of a process <NUM> for retracting the mechanical brake <NUM> of <FIG>, in accordance with an embodiment. The control system <NUM> may receive (block <NUM>) a request to move the roaming vehicle <NUM> while one or more mechanical brakes <NUM> are deployed. The request may be received from the roaming vehicle <NUM> (e.g., based on user input), may be received as part of the motion profile obtained from the memory <NUM>, or the like.

The control system <NUM> may send (block <NUM>) a control signal to appropriate motor drives <NUM> and/or switching panel <NUM> to control the SSLIMs <NUM> providing the magnetic field attracting the mechanical brake <NUM> such that the brake <NUM> retracts. That is, the magnetic field generated by the SSLIMs <NUM> may be reduced to an insufficient strength to overcome the force of the spring return <NUM>, thereby enabling the spring return <NUM> to pull the mechanical brake <NUM> away from the SSLIMs <NUM> into slot <NUM> for storage. Once the mechanical brake <NUM> is retracted into slot <NUM>, the control system <NUM> may send a control signal to the roaming vehicle <NUM> to actuate (e.g., deploy) the locking pin <NUM> into recess <NUM> to secure the mechanical brake <NUM> in the undeployed position.

<FIG> is a flow diagram of a process <NUM> for applying magnetic force using the SSLIMs <NUM> to hold the roaming vehicle <NUM> in place, in accordance with an embodiment. The control system <NUM> may receive (block <NUM>) a request to slow down or stop the roaming vehicle <NUM>. The request may be received from the roaming vehicle <NUM> (e.g., based on user input), may be received as part of the motion profile obtained from the memory <NUM>, or the like.

The control system <NUM> may send (block <NUM>) control signals to the appropriate motor drives <NUM> and/or switching panel <NUM> to control the SSLIMs <NUM> near the roaming vehicle <NUM> (e.g., underneath and/or around the location of the roaming vehicle <NUM>) to hold the roaming vehicle <NUM> in place. In some embodiments, one SSLIM <NUM> underneath the front, back, left side, and right side of the reaction plate <NUM> may generate near equal and balanced thrust towards the center of the reaction plate <NUM>. As a result, no thrust vector may be generated and the roaming vehicle <NUM> may be held in a stationary position. As discussed above, a similar scenario may occur when the SSLIMs <NUM> on equivalent positions on opposite sides of the reaction plate <NUM> thrust towards the outer edges of the reaction plate <NUM>.

<FIG> is a flow diagram of a process <NUM> for releasing the holding magnetic force using the SSLIMs <NUM> to enable the roaming vehicle <NUM> to move, in accordance with an embodiment. The control system <NUM> may receive (block <NUM>) a request to move the roaming vehicle <NUM> while the magnetic field of the SSLIMs <NUM> is holding the roaming vehicle <NUM> in place. The request may be received from the roaming vehicle <NUM> (e.g., based on user input), may be received as part of the motion profile obtained from the memory <NUM>, or the like.

The control system <NUM> may send (block <NUM>) control signals to the appropriate motor drives <NUM> and/or switching panel <NUM> to control the SSLIMs <NUM> holding the roaming vehicle <NUM> in place to change or remove the magnetic field to enable the roaming vehicle <NUM> to move. For example, the control system <NUM> may change the thrust vector generated by the SSLIMs <NUM> by commanding that one or more SSLIMs underneath the reaction plate <NUM> to generate thrust in the reaction plate <NUM> in a forward direction. As a result of the changed thrust vector, the roaming vehicle <NUM> may 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 SSLIMs <NUM> may be harnessed to power onboard electronics of the roaming vehicle <NUM>. To that end, <FIG> is a schematic diagram illustrating using an induction coil <NUM> on the reaction plate <NUM> to pick up energy from the SSLIM <NUM> to power the onboard electronics (e.g., processor <NUM>, memory <NUM>, communication module <NUM>, power supply <NUM>, wireless directional controller <NUM>, speakers <NUM>, lights <NUM>, restraint locks <NUM>, position tracking system <NUM>) of the roaming vehicle <NUM>, in accordance with an embodiment. As depicted, one or more rectifiers and/or power conditioners <NUM> may be used to convert, condition, amplify, or some combination thereof, the inducted energy from the magnetic field generated by the SSLIM <NUM>. For example, the rectifier may <NUM> may convert the AC power to DC power that is used to power the onboard electronics. In some embodiments, the size of an air gap <NUM> between the reaction plate <NUM> and the SSLIM <NUM> may affect the strength of the induction field generated by the SSLIM <NUM> and the amount of energy picked up by the induction coil <NUM>. Thus, it may be desirable to maintain a relatively small air gap <NUM> to enhance the induction field.

Claim 1:
A propulsion system, comprising:
one or more roaming vehicles (<NUM>) comprising a reaction plate (<NUM>) installed on a bottom of each of the one or more roaming vehicles (<NUM>); wherein the reaction plate (<NUM>) comprises a non-ferrous conductor;
a surface stator matrix installed with a running surface for the one or more roaming vehicles (<NUM>) and comprising a plurality of single sided linear induction motors (SSLIMs) (<NUM>), wherein each of at least a portion of the plurality of single sided linear induction motors (<NUM>) include two windings (<NUM>, <NUM>) installed orthogonally to one another, the two windings (<NUM>, <NUM>) being individually energisable to generate magnetic fields that provide a first force in a first direction and a second force in a second coplanar direction as the reaction plate of each of the one or more roaming vehicles (<NUM>) passes through the magnetic fields, thereby producing a force vector in any direction across the surface stator matrix on the one or more roaming vehicles;
a plurality of motor drives (<NUM>) configured to electrically couple to the plurality of single sided linear induction motors (<NUM>) via a switching panel;
a control system configured to:
receive information related to the one or more roaming vehicles (<NUM>);
receive a desired motion profile for the one or more roaming vehicles (<NUM>) across the surface stator matrix;
determine which of the plurality of single sided linear induction motors (<NUM>) to activate and, for each activated single sided linear induction motor (<NUM>), adjust the current supplied to the windings based on the desired motion profile, the information, or some combination thereof; and
send control signals to the plurality of motor drives (<NUM>) to control the plurality of single sided linear induction motors (<NUM>) to generate force vectors to produce the desired motion profile, wherein the motor drives (<NUM>) control the plurality of single sided linear induction motors (<NUM>) to produce the motion profile by activating a subset of the plurality of single sided linear induction motors (<NUM>) underneath the reaction plate (<NUM>) in time to generate a force vector in the reaction plate that causes the one or more roaming vehicles (<NUM>) to follow a path specified by the desired motion profile as the one or more roaming vehicles (<NUM>) traverse the running surface.