Patent Description:
An amusement park may include a show robot (e.g., an animatronic figure) that interacts with or otherwise entertains park guests of the amusement park. For example, the show robot may be positioned along a ride path of an attraction of the amusement park or at a particular location in the amusement park to contribute to an overall theme of the attraction or location. The show robot may move through preprogrammed positions or acts when guests are directed past (e.g., via a ride vehicle of the attraction) or walk past the show robot. As such, the show robot may enhance a guest's immersive experience provided by the attraction or themed amusement park location having the show robot. Unfortunately, because a position of the show robot may be unchanged over time, a demand for interacting with and revisiting the show robot may gradually reduce. Moreover, it may be expensive and time consuming to develop, manufacture, and maintain a plurality of individual show robots designed for interacting with the park guests at various locations along the amusement park.

<CIT> describes an amusement park attraction including an attraction feature. The attraction feature includes a fluid actuator having an inflatable mass, the inflatable mass being fluidly connected to a source of pressurized fluid to enable inflation of the inflatable mass. Fluid control devices are configured to adjust inflation of the inflatable mass, and sensors are configured to monitor state properties of the fluid actuator. A controller is communicatively coupled to the fluid control devices and the sensors. The controller is configured to controllably inflate the inflatable mass based at least on feedback from the sensors to cause the fluid actuator to impact an object. The controller is configured to control the inflation of the inflatable mass to adjust parameters of the fluid actuator to maintain a force exerted by the fluid actuator on the object to within a predetermined range.

These embodiments are not intended to limit the scope of the claimed subject matter, which is determined by the appended claims, but rather these embodiments are intended only to provide a brief summary of possible forms of the subject matter. Indeed, the present invention may encompass a variety of forms that may be similar to or different from the embodiments set forth below, but which are within the scope of the claims as appended.

In one embodiment, a robotic system for use in an environment, includes a multi-sectional show robot. The multi-sectional show robot includes a primary robot having a controller and one or more sensors, where the one or more sensors are configured to acquire feedback indicative of a first environment surrounding the primary robot. The multi-sectional show robot includes a secondary robot configured to removably couple to the primary robot to transition the multi-sectional show robot between a disengaged configuration, in which the primary robot is decoupled from the secondary robot, and an engaged configuration, in which the primary robot is coupled to the secondary robot. The controller is configured to operate the primary robot based on the feedback and a first control scheme with the multi-sectional show robot in the disengaged configuration and to operate the primary robot based on a second control scheme with the multi-sectional show robot in the engaged configuration.

In another embodiment, a method for operating a multi-sectional show robot in an environment, includes generating feedback indicative of a first environment surrounding a primary robot of the multi-sectional show robot via one or more sensors of the primary robot. The method includes determining, via a controller of the primary robot, that the multi-sectional show robot is in a disengaged configuration in which the primary robot is decoupled from a secondary robot of the multi-sectional show robot. The method also includes operating, via the controller, the primary robot based on the feedback and a first control scheme in response to determining that the multi-sectional show robot is in the disengaged configuration. The method further includes determining, via the controller of the primary robot, that the multi-sectional show robot is in an engaged configuration in which the primary robot is coupled to the secondary robot of the multi-sectional show robot. The method also includes operating, via the controller, the primary robot based on the feedback and a second control scheme in response to determining that the multi-sectional show robot is in the engaged configuration.

Various refinements of the features noted above may be undertaken in relation to various aspects of the present disclosure. Further features may also be incorporated in these various aspects as well. These refinements and additional features may exist individually or in any combination.

Present embodiments are directed to a multi-sectional show robot that may be configured to travel along an amusement park environment to interact with and/or provide a performance (e.g., show) to guests of the amusement park. The multi-sectional show robot may include a primary robotic section (e.g., a base robot), also referred to herein as a "primary robot," and a secondary robotic section (e.g., a parasitic robot), also referred to herein as a "secondary robot. " The primary robot may include a primary motion platform that enables the multi-sectional show robot to traverse a terrain, such as various regions or areas of the amusement park along which guests may be located. For example, the primary motion platform may include a propulsion system having one of more wheels, tracks, legs, and/or other suitable mechanisms or devices that enable the primary motion platform to propel the multi-sectional show robot along a path. The secondary robot may include an animatronic system that forms at least a portion of a theme or character (e.g., dragon, wolf, or other creature) of the multi-sectional show robot. Particularly, the animatronic system may include one or more actuatable extremities or appendages (e.g., arms, head), themed covering structures (e.g., fur, scaling), audio output devices (e.g., acoustic speakers), and/or visual output devices (e.g., lighting features, displays) that may enhance a guest's perceived realism of the theme or character portrayed by the multi-sectional show robot. In some embodiments, the secondary robot includes an array of sensors enabling the secondary robot to detect guests in proximity to the multi-sectional show robot and to evaluate guests' interactions with and/or reactions to the multi-sectional show robot. Based on feedback acquired by the sensors, the secondary robot may initiate, adjust, terminate, or otherwise alter interaction of the multi-sectional show robot with one or more of the guests. In this manner, the primary robot may generally perform acts facilitating movement and/or repositioning of the multi-sectional show robot in the amusement park, while the secondary robot is tailored to enhance an immersive experience between park guests and the multi-sectional show robot.

As discussed in detail below, the secondary robot may be one of a plurality of secondary robots that are removably coupleable to the primary robot. Accordingly, various secondary robots having different theming or characters may be interchangeably equipped on the primary robot. In this manner, an overall theme or character of the multi-sectional show robot may be easily and quickly adjusted by replacing the type (e.g., particular theme or character) of secondary robot coupled to the primary robot. To this end, the multi-sectional show robot may utilize the same motion platform (e.g., the primary robot) to provide a plurality of uniquely themed robotic systems with which guest may interact, thereby reducing an overall manufacturing complexity and/or maintenance cost of the multi-sectional show robot (e.g., as compared to producing individual show robots for each theme or character). In some embodiments, the primary robot may be configured to determine the type (e.g., particular theme or character) of secondary robot coupled to the primary robot and may adjust its operation (e.g., a movement speed, a movement style) based on the detected type of secondary robot. Indeed, various programmed mannerisms (e.g., gestures, audible outputs, visual outputs) of the multi-sectional show robot may be automatically adjusted based on the type of secondary robot coupled to the primary robot.

In some embodiments, the secondary robot may be configured to selectively decouple from the primary robot at a first time period, such as when the primary robot arrives at a target location in the amusement park. The secondary robot may include a secondary motion platform (e.g., having one or more wheels, tracks, legs, and/or other suitable mechanisms or devices) that enable the secondary robot to traverse the amusement park environment along a first path that is independent of a second path of the primary robot. As such, the primary robot and the secondary robot may separately and independently interact with guests of the amusement park. For clarity, as used herein, the term "path" may refer to any one-dimensional (1D) (e.g., such as along a track), two-dimensional (2D) (e.g., such as along a defined or undefined planar route), three-dimensional (3D) (e.g., such as movement in the air, under water, or along a structure where depth or altitude is also traversable), or four-dimensional (4D) (such as where there are defined temporal aspects) route along which the primary robot and/or the secondary robot may travel. As discussed below, the path may be adaptive (e.g., controlled by the multi-sectional robot) and updated based on sensor feedback acquired by one or more sensors of the multi-sectional show robot. In some embodiments, the primary and secondary robots may be configured to interact differently with guests based on whether the robots are in an engaged configuration (e.g., physically coupled to one another to collectively form the multi-sectional show robot) or in a disengaged configuration (e.g., physically decoupled from one another).

In certain embodiments, the secondary robot may be configured to recouple to the primary robot (e.g., or to another primary robot traversing the amusement park environment) at a second time period, such as when a power level (e.g., a battery level) of the secondary robot falls below a threshold value. Upon re-coupling of the primary and secondary robots, the primary robot may initiate a charging procedure to charge a power supply (e.g., battery) of the secondary robot, may execute a transport procedure to return the secondary robot to a designated base station, or may perform another suitable action. Thus, in certain embodiments, the primary robot may be used to deliver the secondary robot to and to retrieve the secondary robot from various locations of the amusement park. As such, it should be understood that the multi-sectional show robot discussed herein may facilitate providing multitudinous unique robotic experiences to guests of an amusement park with fewer hardware components than traditional animatronic systems.

Keeping the above brief summary in mind, <FIG> is a schematic of an embodiment of a robotic system <NUM> having a primary robot <NUM> (e.g., a first robot) and a secondary robot <NUM> (e.g., a second robot) that, collectively, may form a multi-sectional show robot <NUM>. The primary robot <NUM> includes a first processing system <NUM> having a first controller <NUM> and the secondary robot <NUM> includes a second processing system <NUM> having a second controller <NUM>. The first controller <NUM> may be communicatively coupled to a first communication component <NUM> of the primary robot <NUM> and the second controller <NUM> may be communicatively coupled to a second communication component <NUM> of the secondary robot <NUM>. In some embodiments, the first and second communication components <NUM>, <NUM> enable communication (e.g., data transmission, signal transmission) between the first controller <NUM> and the second controller <NUM> via one or more wireless communication channels. In some embodiments, the first and second controllers <NUM>, <NUM> may be communicatively coupled to one another via a network <NUM> and a system controller <NUM> of the robotic system <NUM>. For example, the system controller <NUM> may include a communication component <NUM> enabling the system controller <NUM> to receive (e.g., via the network <NUM>) communication signals from the first controller <NUM> and to transmit the communication signals (e.g., via the network <NUM>) to the second controller <NUM>, and vice versa. Further, as discussed below, the first and second controllers <NUM>, <NUM> may be communicatively coupled via wired communication channels that may be included in respective electrical coupling systems <NUM> of the primary and secondary robots <NUM>, <NUM>.

The first controller <NUM>, the second controller <NUM>, and the system controller <NUM> each include respective processors <NUM>, <NUM>, <NUM> and memory devices <NUM>, <NUM>, <NUM>. The processors <NUM>, <NUM>, <NUM> may include microprocessors, which may execute software for controlling component of the primary and secondary robots <NUM>, <NUM>, for analyzing sensor feedback acquired by respective sensors of the primary and secondary robots <NUM>, <NUM>, and/or for controlling any other suitable components of the robotic system <NUM>. The processors <NUM>, <NUM>, <NUM> may include multiple microprocessors, one or more "general-purpose" microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICs), or some combination thereof. For example, the processors <NUM>, <NUM>, <NUM> may include one or more reduced instruction set computer (RISC) processors. The memory devices <NUM>, <NUM>, <NUM> may include volatile memory, such as random access memory (RAM), and/or nonvolatile memory, such as read-only memory (ROM). The memory devices <NUM>, <NUM>, <NUM> may store information, such as control software (e.g., control algorithms for controlling the primary and/or secondary robots <NUM>, <NUM>), look up tables, configuration data, communication protocols, etc..

For example, the memory devices <NUM>, <NUM>, <NUM> may store processor-executable instructions including firmware or software for the processors <NUM>, <NUM>, <NUM> execute, such as instructions for controlling any of the components of the primary and secondary robots <NUM>, <NUM> discussed herein and/or for controlling other suitable components of the robotic system <NUM>. In some embodiments, the memory devices <NUM>, <NUM>, <NUM> are tangible, non-transitory, machine-readable media that may store machine-readable instructions for the processors <NUM>, <NUM>, <NUM> to execute. The memory devices <NUM>, <NUM>, <NUM> may include ROM, flash memory, hard drives, any other suitable optical, magnetic, or solid-state storage media, or a combination thereof.

It should be understood that any of the processes and techniques disclosed herein may be fully or partially performed by the first processing system <NUM>, the second processing system <NUM>, and/or the system controller <NUM>, which may collectively be referred to herein as a computing system <NUM>. Thus, the computing system <NUM> may include the first processing system <NUM>, the second processing system <NUM>, the system controller <NUM>, or any combination thereof. Accordingly, it should be appreciated that discussions herein relating to executing control processes or routines, storing data, forming control outputs, and/or performing other operations via the computing system <NUM> are intended to denote computational operations that may be performed partially or completely by the first processing system <NUM> of the primary robot <NUM>, the second processing system <NUM> of the secondary robot <NUM>, and/or the system controller <NUM>.

The first controller <NUM> may be communicatively coupled to one or more first sensors <NUM> of the primary robot <NUM> and the second controller <NUM> may be communicatively coupled to one or more second sensors <NUM> of the secondary robot <NUM>. The first and second sensors <NUM>, <NUM> may acquire feedback (e.g., sensor data) of various operational parameters of the primary and secondary robots <NUM>, <NUM> and/or of features (e.g., objects, amusement park guests) surrounding the primary and secondary robots <NUM>, <NUM>. The first and second sensors <NUM>, <NUM> may provide (e.g., transmit) the acquired feedback to the first and second controllers <NUM>, <NUM>, respectively. As a non-limiting example, the first and second sensors <NUM>, <NUM> may include proximity sensors, acoustic sensors, cameras, infrared sensors, and/or any other suitable sensors. As such, feedback acquired by the first and second sensors <NUM>, <NUM> may facilitate operation of the multi-sectional show robot <NUM> in accordance with the techniques discussed herein. In some embodiments, feedback acquired by the first sensors <NUM> may enable control of both the primary robot <NUM> and the secondary robot <NUM>, such that the second sensors <NUM> may be omitted from the secondary robot <NUM>. Conversely, in other embodiments, feedback acquired by the second sensors <NUM> may enable control of both the primary and secondary robots <NUM>, <NUM>, such that the first sensors <NUM> may be omitted from the primary robot <NUM>.

In the illustrated embodiment, the primary robot <NUM> includes a primary motion platform <NUM> (e.g., a first propulsion system) configured to propel the primary robot <NUM> along a path and the secondary robot <NUM> includes a secondary motion platform <NUM> (e.g., a second propulsion system) configured to propel the secondary robot <NUM> along the path or another suitable path. The primary and secondary motion platforms <NUM>, <NUM> each include corresponding actuators <NUM> (e.g., electric motors, hydraulic motors, pneumatic motors) that enable the primary and secondary motion platforms <NUM>, <NUM> to move the primary and secondary robots <NUM>, <NUM> along the corresponding paths. As an example, the actuators <NUM> may be configured to drive one of more wheels, tracks, legs, propellers, and/or other suitable mechanisms or devices of the primary and secondary motion platforms <NUM>, <NUM> that enable movement of the primary and secondary robots <NUM>, <NUM>. The primary and secondary motion platforms <NUM>, <NUM> may be communicatively coupled to the first controller <NUM> and the second controller <NUM>, respectively. To this end, the first and second controllers <NUM>, <NUM> may send instructions to the primary and secondary motion platforms <NUM>, <NUM> (e.g., to the corresponding actuators <NUM>) to cause the primary and secondary motion platforms <NUM>, <NUM> to move the primary and secondary robots <NUM>, <NUM> along corresponding paths. In some embodiments, the first and second controllers <NUM>, <NUM> may include respective motion control modules <NUM> that enable the first and second controllers <NUM>, <NUM> to control the primary and secondary motion platforms <NUM>, <NUM> in accordance with the operating specifications or control routines discussed herein.

In the illustrated embodiment, the primary robot <NUM> includes a first interaction system <NUM> (e.g., a first animatronic system) and the secondary robot <NUM> includes a second interaction system <NUM> (e.g., a second animatronic system). The first and second interactions systems <NUM>, <NUM> may each include one or more audio output devices <NUM> (e.g., speakers), one or more visual output devices <NUM> (e.g., lights, displays, projectors, etc.), and one or more gesture output devices <NUM> (e.g., movable appendages such as arms or a head, other actuatable mechanical features) that, as discussed in detail below, enable the multi-sectional show robot <NUM> to perform a show and/or interact with users (e.g., guests of an amusement park). The first interaction system <NUM> is communicatively coupled to the first controller <NUM> and the second interaction system <NUM> is communicatively coupled to the second controller <NUM>. As such, the first and second controllers <NUM>, <NUM> may instruct the first and second interaction systems <NUM>, <NUM> to output audio, visual, or gesture outputs at designated time periods, such as when a guest is detected to be within a threshold distance of the primary robot <NUM> and/or the secondary robot <NUM>. In some embodiments, the first interaction system <NUM> may be controlled based on feedback from the second sensors <NUM> and the second interaction system <NUM> may be controlled based on feedback from the first sensors <NUM>. As an example, the computing system <NUM> may, based on feedback from the first sensors <NUM> indicating a collision between the primary robot <NUM> and an object, instruct the second interaction system <NUM> to output a particular audio output, visual output, and/or gesture output.

In some embodiments, the first processing system <NUM> includes a first character control library <NUM> and the second processing system <NUM> includes a second character control library <NUM>. As discussed below, the first and second character control libraries <NUM>, <NUM> may be stored on the respective memory devices <NUM>, <NUM> and may include various control routines or algorithms that, when executed, enable the controllers <NUM>, <NUM> to control the first and second interaction systems <NUM>, <NUM> to emulate a particular character (e.g., dragon, wolf, or other creature) or theme. For example, the first and second character control libraries <NUM>, <NUM> may specify types of audio recordings, visual displays, and/or gesture movements to be output by the respective audio output devices <NUM>, visual output devices <NUM>, or gesture output devices <NUM> of the primary and secondary robots <NUM>, <NUM> when a guest is detected as being within a threshold range of the primary robot <NUM>, the secondary robot <NUM>, or both.

In certain embodiments, the first processing system <NUM> includes a first navigation module <NUM> and the second processing system <NUM> includes a second navigation module <NUM> that may be executed by the respective processor <NUM>, <NUM>. The first and second navigation modules <NUM>, <NUM> may include control algorithms or other processor-executable routines that enable the first and second controllers <NUM>, <NUM> to determine locations of the primary robot <NUM> and the secondary robot <NUM>, respectively, and to facilitate movement of the primary and secondary robots <NUM>, <NUM> along desired paths. For example, in certain embodiments, the navigation modules <NUM>, <NUM> may facilitate processing of tracking signals received from respective tracking sensors <NUM> (e.g., global positioning system [GPS] sensors) of the primary and secondary robots <NUM>, <NUM>, which may be configured to monitor the respective locations of the primary and secondary robots <NUM>, <NUM> in an environment (e.g., a designated roaming area of the amusement park). For clarity, as used herein, a "roaming area" may correspond to a region of space, such as a walkway or courtyard, along which the primary robot <NUM>, the secondary robot <NUM>, or both, may be configured to travel. A roaming area may include an envelope of travel defined by geo-fencing.

In some embodiments, robotic system <NUM> includes a machine vision system <NUM> that, as discussed in detail below, may facilitate tracking of the primary and/or secondary robots <NUM>, <NUM> in addition to, or in lieu of, the tracking sensors <NUM>. For example, the machine vision system <NUM> may include one or more cameras <NUM> or other image sensors configured to acquire image data (e.g., real-time video feeds) of the primary and secondary robots <NUM>, <NUM> as the primary and secondary robots <NUM>, <NUM> travel across an environment. The system controller <NUM> may be configured to analyze the image data acquired by the machine vision system <NUM> and, based on such analysis, extract respective locations of the primary and secondary robots <NUM>, <NUM> relative to a reference point in the environment.

In the illustrated embodiment, the primary robot <NUM> includes a first coupling system <NUM> and the secondary robot <NUM> includes a second coupling system <NUM>. The first and second coupling systems <NUM>, <NUM> enable the primary and secondary robots <NUM>, <NUM> to selectively couple (e.g., physically attach) or decouple (e.g., physically detach) from one another. As a non-limiting example, the first and second coupling systems <NUM>, <NUM> may include permanent magnets, electromagnets, electrical, hydraulic, and/or pneumatic actuators, cables or tethers, robotic manipulators (e.g., grippers, end effectors) and/or any other suitable devices or systems that facilitate transitioning the multi-sectional show robot <NUM> between an assembled or engaged configuration, in which the primary and secondary robots <NUM>, <NUM> are coupled (e.g., physically coupled, mechanically coupled) to one another, and a detached or disengaged configuration, in which the primary and secondary robots <NUM>, <NUM> are decoupled (e.g., decoupled, mechanically detached) from one another.

In certain embodiments, the primary robot <NUM> includes a first electrical coupler <NUM> (e.g., a male plug or socket) and the secondary robot <NUM> includes a second electrical coupler <NUM> (e.g., a female plug or socket). These first and second electrical couplers <NUM>, <NUM> form at least a portion of the electrical coupling systems <NUM>. The first and second electrical couplers <NUM>, <NUM> facilitate wired communication between the primary and secondary robots <NUM>, <NUM> in addition to, or in lieu of, the wireless communication channels that may be provided by the first and second communication components <NUM>, <NUM>. The first and second electrical couplers <NUM>, <NUM> may be configured to electrically couple to one another when the primary robot <NUM> is physically coupled to the secondary robot <NUM> via engagement of the first and second coupling systems <NUM>, <NUM>. To this end the first and second electrical couplers <NUM>, <NUM> facilitate transmission of data signals and/or electrical power from the primary robot <NUM> to the secondary robot <NUM>, and vice versa.

In the illustrated embodiment, the primary robot <NUM> includes a first power supply <NUM> (e.g., a first battery module) configured to provide electrical power to components of the primary robot <NUM>. The secondary robot <NUM> includes a second power supply <NUM> (e.g., a second battery module) configured to provide electrical power to components of the secondary robot <NUM>. In an engaged (e.g., coupled) configuration of the primary and secondary robots <NUM>, <NUM> (e.g., in the assembled configuration of the multi-sectional show robot <NUM>), the first and second electrical couplers <NUM>, <NUM> enable flow of electrical current between the first and second power supplies <NUM>, <NUM>. The controllers <NUM>, <NUM> may regulate power flow through the electrical couplers <NUM>, <NUM> and between the first and second power supplies <NUM>, <NUM>, such that the first power supply <NUM> may be used to charge the second power supply <NUM>, or vice versa. Respective charging modules <NUM> of the first and second processing systems <NUM>, <NUM> may execute on the controllers <NUM>, <NUM> to enable the controllers <NUM>, <NUM> to monitor, regulate, and/or otherwise adjust electrical power flow between the first and second power supplies <NUM>, <NUM>. It should be appreciated that, in other embodiments, the primary and secondary robots <NUM>, <NUM> may include wireless power transfer devices (e.g., inductive-based charging systems) that enable wireless electrical power transfer between the first power supply <NUM> and the second power supply <NUM>.

In some embodiments, the robotic system <NUM> includes a user interface <NUM> that may be communicatively coupled (e.g., via the network <NUM>) to the primary robot <NUM>, the secondary robot <NUM>, and/or any other suitable components of the robotic system <NUM>. The user interface <NUM> may receive user inputs to enable user-based control of the multi-sectional show robot <NUM> or subcomponents thereof.

<FIG> is flow diagram of an embodiment of a process <NUM> for operating the multi-sectional show robot <NUM>. As noted above, portions of or all of the process <NUM> may be performed by one or more of the controllers <NUM>, <NUM>, and <NUM>. The process <NUM> includes operating the primary robot <NUM> in accordance with a standard control scheme (e.g., a first control scheme), as indicated by block <NUM>. At block <NUM>, the secondary robot <NUM> may be physically decoupled from the primary robot <NUM>. The first controller <NUM> may position the primary robot <NUM> at a base station (e.g., a charging station) or other suitable location in the amusement park. Alternatively, as discussed below, the first controller <NUM> may instruct the primary robot <NUM> to roam along a predefined or undefined path in the amusement park. When operating in accordance with the standard control scheme, the first controller <NUM> may operate the primary robot <NUM> to move (e.g., drive, step, otherwise travel) based on standard movement specifications (e.g., specifications defining a first drive speed, a first step speed, and/or a first step height of the primary motion platform <NUM>).

As indicated by block <NUM>, the first controller <NUM> may continuously or periodically evaluate whether the secondary robot <NUM> is coupled to the primary robot <NUM>, such as via the engagement of the coupling systems <NUM>, <NUM> and/or the electrical couplers <NUM>, <NUM>. If the first controller <NUM> detects that the secondary robot <NUM> is not coupled to the primary robot <NUM>, the first controller <NUM> may continue to operate the primary robot <NUM> in accordance with the standard control scheme. If the first controller <NUM> detects that the secondary robot <NUM> is coupled to the primary robot <NUM>, the first controller <NUM> may identify a type (e.g., a designated character type) of the secondary robot <NUM>, as indicated by block <NUM>. For example, the first controller <NUM> may receive a signal from the second controller <NUM> identifying the character type of the secondary robot <NUM>, which may be specified in the character control library <NUM>. As indicated by block <NUM>, upon detecting the character type of the secondary robot <NUM>, the first controller <NUM> selects a character-specific control scheme (e.g., which may be stored in the character control libraries <NUM> and/or <NUM>; a second control scheme) under which the controller <NUM> is configured to operate the primary robot <NUM> and that corresponds to the detected character type of the secondary robot <NUM>. As indicated by block <NUM>, the first controller <NUM> may subsequently operate components of the primary robot <NUM>, such as the primary motion platform <NUM>, in accordance with the selected character-specific control scheme.

For example, when operating in accordance with the character-specific control scheme, the first controller <NUM> may control the primary robot <NUM> to move (e.g., drive, step, or otherwise travel) based on character-specific movement specifications that may be different from the standard movement specifications of the primary robot <NUM>. That is, the character-specific movement specifications may define a second drive speed, a second step speed, a second step height, etc., of the primary motion platform <NUM>, which may be different than the first drive speed, the first step speed, the first step height, etc., at which the primary motion platform <NUM> operates under the standard motion specifications. As such, primary robot <NUM> may adjust its overall motion profile based on the desired type of character the multi-sectional show robot <NUM> is to portray.

<FIG> is flow diagram of an embodiment of a process <NUM> for operating the multi-sectional show robot <NUM> in a roaming environment (e.g., a region of an amusement park). The process <NUM> includes executing a loading procedure to couple the secondary robot <NUM> to the primary robot <NUM>, as indicated by block <NUM>. For example, in some embodiments, a user (e.g., an operator of the robotic system <NUM>) may manually couple the secondary robot <NUM> to the primary robot <NUM> (e.g., via the coupling systems <NUM>, <NUM>) to execute the loading procedure. In other embodiments, the primary robot <NUM> and/or the secondary robot <NUM>, may include respective manipulators <NUM> (e.g., see <FIG>) that enable automated coupling of the primary and secondary robots <NUM>, <NUM>.

In any case, upon receiving an indication that the secondary robot <NUM> is coupled to the primary robot <NUM>, the first controller <NUM> may instruct the primary robot <NUM> to transfer the secondary robot <NUM> from a first initial location (e.g., a base station) to a first target location (e.g., a location in the amusement park), as indicated by block <NUM>. The secondary robot <NUM> may be configured to detach from the primary robot <NUM> (e.g., via user-input, via actuation of the manipulators <NUM>) at the first target location. As such, the secondary robot <NUM> may interact with park guests at or near the first target location or may roam (e.g., travel autonomously) along a predetermined or undefined path in the amusement park. Upon delivering the secondary robot <NUM> to the first target location, the primary robot <NUM> may return to the first initial location (e.g., the base station), as indicated by block <NUM>. Alternatively, as discussed below, the primary robot <NUM> may continue to independently roam along a path to interact with additional guest of the amusement park.

In some embodiments, the primary robot <NUM> may be configured to monitor a health status of the secondary robot <NUM> while the secondary robot <NUM> is detached from the primary robot <NUM> and roaming along the amusement park, as indicated by block <NUM>. For example, the first controller <NUM> may continuously or periodically monitor a power level of the second power supply <NUM> and evaluate whether the power level falls below a lower threshold value. Upon determining that the power level of the second power supply <NUM> falls below the lower threshold value (e.g., upon determining that the health status of the secondary robot <NUM> falls below a threshold value), the first controller <NUM> may execute a retrieval operation, as indicated by block <NUM>, to locate the secondary robot <NUM> in the roaming environment and to return the secondary robot <NUM> to the base station (e.g., the first initial location). That is, the first controller <NUM> may instruct the primary robot <NUM> to travel to a current location of the secondary robot <NUM> (e.g., as indicated by the corresponding tracking sensor <NUM>), re-couple to the secondary robot <NUM>, and transfer the secondary robot <NUM> to a second target location (e.g., the base station). In some embodiments, the computing system <NUM> may transition the secondary robot <NUM> to a hibernating, inactive, or otherwise powered-down state while the secondary robot <NUM> is transferred to and from particular target locations by the primary robot <NUM>. In other embodiments, the secondary robot <NUM> may remain operational during these periods, such that the multi-sectional show robot <NUM> may continue to interact with park guest during transit of the secondary robot <NUM> to and from various target locations of the amusement park.

As discussed below, it should be understood that the secondary robot <NUM> may be one of a plurality of secondary robots <NUM> that may be coupled to and transported by the primary robot <NUM> at a particular time. Indeed, the primary robot <NUM> may be configured to support (e.g., mechanically and/or communicatively couple to) <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or more than <NUM> secondary robots <NUM>. As such, the primary robot <NUM> may be configured to selectively deliver, transport, and retrieve each of the plurality of secondary robots <NUM>. Therefore, it should be appreciated that, in such embodiments, the multi-sectional show robot <NUM> may include the primary robot <NUM> and any of the <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or more than <NUM> secondary robots <NUM> configured to be supported by the primary robot <NUM>.

<FIG> is flow diagram of an embodiment of a process <NUM> of operating the multi-sectional show robot <NUM>, particularly when the multi-sectional show robot <NUM> is in the assembled configuration having the primary and secondary robots <NUM>, <NUM> coupled to one another. In the illustrated embodiment, the process <NUM> includes monitoring an interaction area of the multi-sectional show robot <NUM>, as indicated by block <NUM>. The interaction area may include a threshold region of space extending about a perimeter of the multi-sectional show robot <NUM>. For example, the multi-sectional show robot <NUM> may receive feedback from the first sensors <NUM>, the second sensors <NUM>, or both, indicative of objects or guests within and/or substantially adjacent to the interaction area.

The computing system <NUM> may determine, based on the acquired sensor feedback, whether a guest is within the interaction area and/or interacts with the multi-sectional show robot <NUM>, as indicted by block <NUM>. The computing system <NUM> may identify occurrence of a guest interaction with the multi-sectional show robot <NUM> when the guest steps within the interaction area of the multi-sectional show robot <NUM>, reaches toward or grabs a component of the multi-sectional show robot <NUM>, provides an audible command or visual gesture, or performs another suitable action. As indicated by block <NUM>, upon determining occurrence of the guest interaction, the computing system <NUM> may transition the primary robot <NUM> to a hibernating state (e.g., a powered down or non-operational state), such that the primary motion platform <NUM> is temporarily deactivated. In the hibernating state, the computing system <NUM> may block or temporarily interrupt power flow (e.g., electrical current flow, hydraulic or pneumatic fluid flow) to various components or systems of the primary robot <NUM>. That is, to transition the primary robot <NUM> to the hibernating state, the computing system <NUM> may deactivate one or more components of the primary robot <NUM> and/or suspend certain functionality of the primary robot <NUM> that would typically be operational/active when the primary robot <NUM> is not in the hibernating state. In certain embodiments, the computing system <NUM> may, when transitioning the primary robot <NUM> to the hibernating state, engage mechanical interlocking features that physically block movement of certain components or systems of the primary robot <NUM>, as indicated by block <NUM>. In this manner, the computing system <NUM> may reduce an electrical and/or mechanical potential energy of the primary robot <NUM> to ensure that the primary robot <NUM> is blocked from performing inadvertent movement (e.g., movement of legs or wheels of the primary robot <NUM>) that may interfere (e.g., contact) the guest during the guest's interaction with the multi-sectional show robot <NUM>.

For example, to better illustrate the engagement of the mechanical interlocking features and to facilitate the following discussion, <FIG> is a schematic of an embodiment of a leg <NUM> (e.g., an appendage) of the primary robot <NUM>, where the leg <NUM> is in an operational position <NUM>. The leg <NUM> may be included in the primary motion platform <NUM> of primary robot <NUM>. <FIG> is a schematic of an embodiment of the leg <NUM> in a resting position <NUM>. <FIG> will be discussed concurrently below.

The leg <NUM> includes a first member <NUM> and a second member <NUM> coupled at a joint <NUM> and a foot <NUM> coupled to the second member <NUM>. The actuator <NUM> of the primary motion platform <NUM> is configured to pivot the first member <NUM> and/or the second member <NUM> about an axis <NUM> of the joint <NUM> and, thus, enables the leg <NUM> to facilitate movement of the primary robot <NUM> across a surface <NUM>. When transitioning the primary robot <NUM> to the hibernating state, the computing system <NUM> may instruct the actuator <NUM> to transition the leg <NUM> the resting position <NUM>, thereby enabling an interlocking feature <NUM> of the first member <NUM> to contact the second member <NUM> to block further rotational movement of the first member <NUM> about the axis <NUM> (e.g., relative to the second member <NUM>, in a counterclockwise direction <NUM>). Accordingly, the interlocking feature <NUM> may inhibit undesired movement of the leg <NUM> when power (e.g., electrical power, hydraulic power, pneumatic power) to the actuator <NUM> is suspended, such as when the primary robot <NUM> is transitioned to the hibernating state. It should be appreciated that various interlocking features <NUM> may be implemented on variety of other components of the multi-sectional show robot <NUM> to block certain ranges of movement of these components when a power supply to the components is suspended or otherwise interrupted. In some embodiments, the interlocking features <NUM> (which may be part of the primary robot <NUM> or the secondary robot <NUM>) may be operable to actuate (e.g., extend, flex, pivot) to actively create a supporting engagement between robotic components (e.g., the first member <NUM>) and then lock into place to block further movement of one or more of the robotic components.

The following discussion continues with reference to <FIG>. Upon transitioning the primary robot <NUM> to the hibernating state, the computing system <NUM> determines whether the interaction between the multi-sectional show robot <NUM> and the one or more guests is complete, as indicated by block <NUM>. If the computing system <NUM> determines (e.g., based on feedback acquired by the sensors <NUM> and/or <NUM>) that the guest interaction is not complete, the computing system <NUM> instructs the secondary robot <NUM> to continue to interact with the guest, as indicated by block <NUM>. If the computing system <NUM> determines that the guest interaction is complete, the computing system <NUM> may transition the primary robot <NUM> to an active state, as indicate by block <NUM>, such that the primary robot <NUM> may again propel the multi-sectional show robot <NUM> along a path.

As briefly discussed above, in some embodiments, the multi-sectional show robot <NUM> may operate in a split configuration, in which the primary and secondary robots <NUM>, <NUM> may each independently roam (e.g., walk, drive, swim, fly, or otherwise move) along an environment and interact with guests in the environment. <FIG> is a flow diagram of an embodiment of a process <NUM> for operating the multi-sectional show robot <NUM> in the split configuration. The process <NUM> includes operating the primary robot <NUM> in accordance with a first character control scheme (e.g., a first set of control routines, a first control scheme), as indicated by block <NUM>, and operating the secondary robot <NUM> in accordance with a second character control scheme (e.g., a second set of control routines, a second control scheme), as indicated by block <NUM>. At blocks <NUM> and <NUM>, the primary and secondary robots <NUM>, <NUM> may be physically decoupled from one another, such that the multi-sectional show robot <NUM> is in the split configuration.

For example, in some embodiments, the primary robot <NUM> may be dressed, decorated, or otherwise customized to illustrate a first character (e.g., a dog) while the secondary robot <NUM> is dressed, decorated, or otherwise customized to appear as a second character (e.g., an owl). When the primary robot <NUM> is decoupled from (e.g., not physically attached or tethered to) the secondary robot <NUM>, the primary robot <NUM> may execute the first character control scheme to interact with guests in accordance with a first set of preprogrammed mannerisms. That is, upon detection of a guest within an interaction area of the primary robot <NUM> (e.g., via feedback from the first sensors <NUM>), the first controller <NUM> may instruct the first interaction system <NUM> to output a first set of audio, visual, and/or gesture outputs corresponding to the first character control scheme. Similarly, upon detection of a guest within an interaction area of the secondary robot <NUM> (e.g., via feedback from the second sensors <NUM>), the second controller <NUM> may instruct the second interaction system <NUM> to output a second set of audio, visual, and/or gesture outputs corresponding to the second character control scheme. Thus, the primary robot <NUM> and the secondary robot <NUM> may provide guests with unique interactive experiences that correspond to the individual characters (e.g., dog, owl) to be portrayed by the primary and secondary robots <NUM>, <NUM>.

In the illustrated embodiment, the process <NUM> includes coupling (e.g., physically coupling, physically tethering) the primary and secondary robots <NUM>, <NUM> to one another, as indicated by block <NUM>. Indeed, as set forth above, the primary robot <NUM> may be configured to locate and retrieve the secondary robot <NUM> during particular time periods, such as when a power level within the second power supply <NUM> of the secondary robot <NUM> falls below a threshold level. Upon detecting that the primary and secondary robots <NUM>, <NUM> are in an engaged configuration (e.g., physically coupled), the computing system <NUM> may operate the primary and secondary robots <NUM>, <NUM> in accordance with a combined character control scheme (e.g., a third control scheme), as indicated by block <NUM>, which may be different than the first and second character control schemes discussed above. Particularly, when operating in accordance with the combined character control scheme, the primary and secondary robots <NUM>, <NUM> may be configured to cooperatively provide an interactive experience for one or more guests. For example, when operating in accordance with the combined character control scheme, guest inputs (e.g., verbal commands, physical inputs) received by the primary robot <NUM> and/or outputs (e.g., audio, visual, gesture) generated by the primary robot <NUM> may affect a show or performance provided by the secondary robot <NUM>, and vice versa. To this end, the multi-sectional show robot <NUM> may provide a plurality of different show performances that are adjusted based on a current configuration (e.g., attached, detached) of the primary and secondary robots <NUM>, <NUM>.

<FIG> is flow diagram of an embodiment of a process <NUM> for verifying a position of the multi-sectional show robot <NUM>, particularly when the primary robot <NUM> and the secondary robot <NUM> are in an engaged configuration (e.g., physically coupled to one another). The process <NUM> includes determining a first position of the primary robot <NUM>, as indicated by block <NUM>, and determining a second position of the secondary robot <NUM>, as indicated by block <NUM>. For example, in some embodiments, the computing system <NUM> may receive signals from the tracking sensor <NUM> of the primary robot <NUM> and the tracking sensor <NUM> of the secondary robot <NUM> that convey the first position of the primary robot <NUM> and the second position of the secondary robot <NUM> relative to a reference frame. The computing system <NUM> may determine, as indicated by block <NUM>, whether the first position of the primary robot <NUM> is within a threshold range of the second position of the secondary robot <NUM>. As indicated by block <NUM>, if the first position is not within the threshold range of the second position, the computing system <NUM> may execute a fault procedure by, for example, deactivating the multi-sectional show robot <NUM> and/or sending an alert to the user interface <NUM>. For example, in accordance with the techniques discussed above, the primary robot <NUM>, the secondary robot <NUM>, or both, may transition to a respective hibernating or powered down state upon detection of the fault condition. In some embodiments, the interlocking features <NUM> may be used to retain the primary and/or secondary robots <NUM>, <NUM> in particular resting positions while the primary and/or secondary robots <NUM>, <NUM> are in the respective hibernating states. If the first position is within the threshold range of the second position, the computing system <NUM> may log (e.g., in the memory devices <NUM>, <NUM>, and/or <NUM>) the current position of the multi-sectional show robot <NUM>, as indicated by block <NUM>, and return to the block <NUM>.

<FIG> is flow diagram of an embodiment of a process <NUM> for monitoring a position of the multi-sectional show robot <NUM> using the machine vision system <NUM> (see <FIG>), particularly when the multi-sectional show robot <NUM> is in the assembled configuration in which the primary and secondary robots <NUM>, <NUM> are coupled to one another. It should be understood that the machine vision system <NUM> may be separate (e.g., physically decoupled) from the multi-sectional show robot <NUM>. As an example, the machine vision system <NUM> may be coupled to an unmanned aerial vehicle (e.g., a drone) configured to fly above a roaming area of the multi-sectional show robot <NUM>. In the illustrated embodiment, the process <NUM> includes obtaining image data of a roaming area of the multi-sectional show robot <NUM>, as indicated by block <NUM>. For example, in some embodiments, the computing system <NUM> may be configured to receive a substantially real-time video feed of the roaming area and of the multi-sectional show robot <NUM> via the one or more cameras <NUM> of the machine vision system <NUM>. As indicated by block <NUM>, the computing system <NUM> may be configured to receive a position signal from the tracking sensors <NUM> of the primary robot <NUM> and/or of the secondary robot <NUM> indicating a current location of the multi-sectional show robot <NUM> in the roaming environment. As indicated by block <NUM>, the computing system <NUM> may, based on analysis of the position signal, instruct the machine vision system <NUM> to acquire additional image data of a subregion of the roaming area identified as having the multi-sectional show robot <NUM>. For example, the machine vision system <NUM> may adjust a magnification or zoom or the cameras <NUM>, a position and/or orientation of the cameras <NUM> (e.g., via corresponding actuators), and/or other operational parameters of the cameras <NUM> to image the subregion at a finer granularity, as compared to a granularity at which the subregion may be imaged at the block <NUM>. In this manner, the machine vision system <NUM> may continuously or intermittently (e.g., after lapse of a threshold time interval) acquire image data of the multi-sectional show robot <NUM> and of the subregion of the roaming area having the multi-sectional show robot <NUM>, as indicated by block <NUM>. It should be understood that the process <NUM> may also be used to independently acquire image data of the primary robot <NUM> and a subregion occupied by the primary robot <NUM>, and of the secondary robot <NUM> and a second subregion occupied by the secondary robot <NUM>, such as when the primary and secondary robots <NUM>, <NUM> independently travel across the roaming area.

<FIG> is a schematic of an embodiment of a portion of the robotic system <NUM>. In some embodiments, the primary robot <NUM> may include a ride vehicle <NUM> configured to transport one or more passengers along a guided or unguided path <NUM> of an attraction <NUM>. The ride vehicle <NUM> may include the first coupling system <NUM> and/or the first electrical coupler <NUM> configured to couple with the second coupling system <NUM> and/or the second electrical coupler <NUM> of the secondary robot <NUM>. The secondary robot <NUM> may be selectively coupled to the ride vehicle <NUM> to provide guests with a show or performance as the ride vehicle <NUM> travels along the path <NUM>. The secondary robot <NUM> may be replaced with other secondary robots (e.g., secondary robots configured to portray other characters or themes) in accordance with the techniques discussed above and, thus, enable customization of a show performance provided by the attraction <NUM> (e.g., such as between ride cycles of the attraction <NUM>.

<FIG> is a schematic of an embodiment of the multi-sectional show robot <NUM>. In some embodiments, the primary robot <NUM> and the secondary robot <NUM> may be mechanically and/or communicatively coupled to one another via a tethering device <NUM> (e.g., one or more tethers, a chain of tethers). The tethering device <NUM> may include a rope, cable, chain, or other suitable tether. In some embodiments, electrical cables and/or optical cables (e.g., fiber optics) may be integrated with the tethering device <NUM> to facilitate data transmission between the primary and secondary robots <NUM>, <NUM>. In certain embodiments, the primary robot <NUM> may be configured to propel (e.g., pull or push) the secondary robot <NUM> along an environment, such that the secondary motion platform <NUM> may be omitted from the secondary robot <NUM> and replaced with passive wheels, skids, or other devices. In embodiments where the secondary robot <NUM> includes the secondary motion platform <NUM>, the secondary motion platform <NUM> may be operable (e.g., via signals sent by the second controller <NUM>) to guide the secondary robot <NUM> along a path that constructively or destructively interferes with a path of the primary robot <NUM>. In some embodiments, the secondary robot <NUM> may include an unmanned aerial vehicle (UAV) <NUM> or other suitable drone. The UAV <NUM> may be coupled to the primary robot <NUM> via the tethering device <NUM> or may be physically detached from the primary robot <NUM>, such that the tethering device <NUM> may be omitted. Moreover, it should be understood that the multi-sectional show robot <NUM> may include a plurality of tethering devices <NUM> configured to physically and/or communicatively couple a plurality of secondary robots <NUM> to the primary robot <NUM>.

In some embodiments, the tethering device <NUM> may be omitted from the multi-sectional show robot <NUM>, and the secondary motion platform <NUM> may be configured to direct the secondary robot <NUM> along a path that follows or precedes a moving path of the primary robot <NUM>. As an example, the secondary motion platform <NUM> may, based on signals received from the computing system <NUM>, propel the secondary robot <NUM> to remain within a threshold distance of the primary robot <NUM> as the primary robot <NUM> traverses a particular path.

In some embodiments, the primary robot <NUM>, the secondary robot <NUM>, or both, may include one or more collision mitigation features <NUM>, such as airbags, dampers, stabilizing legs, or other suitable devices or systems that are configured to mitigate, dampen, or otherwise reduce an impact force that may occur as a result of an inadvertent collision between primary and secondary robots <NUM>, <NUM> and an object <NUM>. The computing system <NUM> may be configured to detect an imminent impact between the primary or secondary robots <NUM>, <NUM> (e.g., based on feedback acquired by the first and/or second sensors <NUM>, <NUM>) and the object <NUM> and to deploy some of or all of the collision mitigation features <NUM> substantially before or during occurrence of the impact. As such, the collision mitigation features <NUM> may reduce wear or performance degradation that may occur as a result of a collision between the multi-section show robot <NUM> and the object <NUM>.

<FIG> is a schematic of an embodiment of the multi-sectional show robot <NUM>. As discussed above, the secondary robot <NUM> may be one of a plurality of secondary robots <NUM> included in the multi-sectional show robot <NUM>. The secondary robots <NUM> may be positioned about the primary robot <NUM> and configured to maintain a particular orientation and/or position relative to the primary robot <NUM> as the primary robot <NUM> travels along a path <NUM>. A covering material <NUM> (e.g., rubber, another suitable elastic material) may be coupled to and disposed over the primary robot <NUM> and the secondary robots <NUM> and may thereby provide an illusion that the multi-sectional show robot <NUM> is a cohesive structure having a single body. The covering material <NUM> may be themed or otherwise customized to augment an overall character (e.g., dragon, wolf, or other creature) to be portrayed by the multi-sectional show robot <NUM>.

In some embodiments, the computing system <NUM> may selectively instruct one or more of the secondary robots <NUM> to adjust their relative positions to the primary robot <NUM> while the primary robot <NUM> is stationary or travels along the path <NUM>. As a non-limiting example, the computing system <NUM> may instruct the secondary robots <NUM> to increase or decrease respective radial dimensions <NUM> between the secondary robots <NUM> and the primary robot <NUM> as the primary robot <NUM> travels from an initial location <NUM> to a target location <NUM> on the path <NUM>. Accordingly, the secondary robots <NUM> may stretch the covering material <NUM> (e.g., in directions radially outward relative to the primary robot <NUM>) or allow the covering material <NUM> to retract (e.g., in directions radially inward relative to the primary robot <NUM>) to enable an overall viewable body of the multi-sectional show robot <NUM> (e.g., defined at least partially by the covering material <NUM>) to expand, contract or otherwise shift in shape. As an example, in this manner, cooperation between the primary robot <NUM> and the secondary robots <NUM> may permit the multi-sectional show robot <NUM> to transition between a resting state <NUM> and an expanded state <NUM> and, therefore, provide an illusion that a body the multi-sectional show robot <NUM> expands or contracts.

As set forth above, embodiments of the present disclosure may provide one or more technical effects useful for providing a plurality of uniquely themed robotic experiences to guests of an amusement park environment via a robotic system having a multi-sectional show robot. The multi-sectional show robot includes a primary robotic platform and one or more selectively engageable secondary robotic platforms that enable the multi-section robot to enact various themed characters and/or perform a variety of shows or performances. As such, the multi-sectional show robot may reduce an overall manufacturing complexity and/or maintenance cost of the robotic system, as compared to traditional robotic systems that may include a dedicated show robot corresponding to a particular, individual character. It should be understood that the technical effects and technical problems in the specification are examples and are not limiting. Indeed, it should be noted that the embodiments described in the specification may have other technical effects and can solve other technical problems.

Claim 1:
A robotic system (<NUM>) for use in an environment, the robotic system comprising a multi-sectional show robot (<NUM>), wherein the multi-sectional show robot (<NUM>) comprises:
a primary robot (<NUM>) comprising a controller (<NUM>) and one or more sensors (<NUM>), wherein the one or more sensors (<NUM>) are configured to acquire feedback indicative of a first environment surrounding the primary robot (<NUM>); and
a secondary robot (<NUM>) configured to removably couple to the primary robot (<NUM>) to transition the multi-sectional show robot (<NUM>) between a disengaged configuration, in which the primary robot (<NUM>) is decoupled from the secondary robot (<NUM>), and an engaged configuration, in which the primary robot (<NUM>) is coupled to the secondary robot (<NUM>), wherein the controller (<NUM>) is configured to operate the primary robot (<NUM>) based on the feedback and a first control scheme with the multi-sectional show robot (<NUM>) in the disengaged configuration and to operate the primary robot (<NUM>) based on a second control scheme with the multi-sectional show robot (<NUM>) in the engaged configuration.