System and method for a multi-section show robot

Abstract

The robotic system includes a multi-section show robot. The multi-section show robot includes a primary robot having a controller and one or more sensors. The one or more sensors are configured to obtain feedback indicative of an environment surrounding the primary robot. The multi-section show robot further includes a secondary robot configured to removably couple to the primary robot for transitioning the multi-section show robot between a disengaged configuration in which the primary robot is disengaged 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 strategy when the multi-section show robot is in the disengaged configuration and to operate the primary robot based on a second control strategy when the multi-section show robot is in the engaged configuration.

Description

Technical Field

[0001] (Cross - Reference to Related Applications) This application claims the priority and benefit of U.S. Provisional Application No. 63 / 024,640, filed on May 14, 2020, entitled "SYSTEMS AND METHODS FOR MULTI - SECTIONAL SHOW ROBOT", which is hereby incorporated by reference in its entirety for all purposes.

Background Art

[0002] This section is intended to introduce the reader to various aspects of technologies that may be relevant to various aspects of the present disclosure described below. This discussion is believed to be useful in providing the reader with background information that facilitates a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these descriptions are not an admission of prior art and should be read in light of this perspective.

[0003] Amusement parks can include show robots (e.g., animatronic figures) that interact with or otherwise entertain amusement park guests. For example, show robots can be placed along the ride paths of amusement park attractions or in specific locations within the park, contributing to the overall theme of the attraction or location. Show robots can move through pre-programmed positions or actions as guests are instructed to pass by them (e.g., via the ride vehicles of an attraction) or as they walk past them. In this way, show robots can enhance the immersive guest experience provided by the attraction or themed amusement park location that features them. However, since the location of show robots does not change over time, the demand for interaction with and revisiting show robots may gradually decline. Furthermore, developing, manufacturing, and maintaining multiple individual show robots designed to interact with amusement park guests in various locations along the park can be expensive and time-consuming. [Overview of the project]

[0004] The following summarizes specific embodiments that fall within the scope of the subject matter initially described in the claims. These embodiments are not intended to limit the scope of the disclosure, but rather to provide a brief summary of the specific embodiments disclosed. In fact, the disclosure may encompass a variety of forms that are similar to or different from the embodiments described below.

[0005] In one embodiment, the robot system includes a multi-sectional show robot. The multi-sectional show robot includes a primary robot having a controller and one or more sensors, the one or more sensors being configured to obtain feedback indicating the environment surrounding the primary robot. The multi-sectional show robot includes a secondary robot configured to be detachably coupled to the primary robot, which transitions the multi-sectional show robot between a disengaged configuration in which the primary robot is decoupled 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 feedback and a first control scheme when the multi-sectional show robot is in the disengaged configuration, and to operate the primary robot based on a second control scheme when the multi-sectional show robot is in the engaged configuration.

[0006] In another embodiment, a method for operating a multi-section show robot includes the step of generating feedback indicating the environment surrounding the primary robot of the multi-section show robot via one or more sensors on the primary robot. The method includes the step of determining via the controller of the primary robot that the multi-section show robot is in a disengaged configuration in which the primary robot is detached from the secondary robot of the multi-section show robot. The method also includes the step of operating the primary robot via the controller in response to the determination that the multi-section show robot is in a disengaged configuration, based on feedback and a first control scheme. The method further includes the step of determining via the controller that the multi-section show robot is in a disengaged configuration in which the primary robot is coupled to the secondary robot of the multi-section show robot. The method also includes the step of operating the primary robot via the controller in response to the determination that the multi-section show robot is in an engaged configuration, based on feedback and a second control scheme.

[0007] In another embodiment, the multisection show robot includes a primary robot having one or more sensors, wherein the sensors are configured to obtain feedback indicating a first environment surrounding the primary robot. The multisection show robot includes a secondary robot having one or more additional sensors, wherein the sensors are configured to obtain additional feedback indicating a second environment surrounding the secondary robot. The multisection show robot further includes a computer system having a first controller for the primary robot, a second controller for the secondary robot, or both. The computer system receives an indication that the primary robot is coupled to the secondary robot, and in response to receiving the indication, is configured to operate the primary and secondary robots based on feedback, additional feedback, or both, based on a combined character control scheme.

[0008] Various improvements to the features described above can be implemented in relation to various aspects of this disclosure. Similarly, further features can be incorporated into these various aspects. These improvements and additional feature elements may exist individually or in any combination.

[0009] These and other features, aspects, and advantages of this disclosure will be further understood by reading the following detailed description with reference to the accompanying drawings, in which similar reference numerals indicate similar elements throughout the drawings. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of one embodiment of a multi-section show robot having a primary robot and a secondary robot according to an embodiment of the present disclosure. [Figure 2] This is a flowchart of one embodiment of the process for selecting a control method for operating the primary robot of a multi-section show robot according to an embodiment of the present disclosure. [Figure 3]This is a flowchart of one embodiment of a process for transporting a secondary robot across an environment via a primary robot of a multi-section show robot according to an embodiment of the present disclosure. [Figure 4] This is a flowchart of one embodiment of the process for operating a multi-section show robot in an amusement park environment according to the embodiments of the present disclosure. [Figure 5] This is a schematic diagram of one embodiment of an attachment for a multi-section show robot when the attachment is in an operating position, according to an embodiment of the present disclosure. [Figure 6] This is a schematic diagram of an embodiment of an attachment for a multi-section show robot when the attachment is in a resting position, according to an embodiment of the present disclosure. [Figure 7] This is a flowchart of one embodiment of a process for operating a primary robot and a secondary robot according to their respective character control methods according to the embodiments of the present disclosure. [Figure 8] This is a flowchart of one embodiment of a process for verifying the position of a multi-section show robot in an environment, according to embodiments of the present disclosure. [Figure 9] This is a flowchart of one embodiment of a process for monitoring the position of a multi-section show robot in an environment using a machine vision system, according to one embodiment of the present disclosure. [Figure 10] This is a schematic diagram of one embodiment of a multi-section show robot including a passenger vehicle according to the embodiments of the present disclosure. [Figure 11] This is a schematic diagram of one embodiment of a multi-section show robot, including a tether device extending between a primary robot and a secondary robot, according to an embodiment of the present disclosure. [Figure 12] This is a schematic diagram of one embodiment of a multi-section show robot including a plurality of secondary robots according to an embodiment of the present disclosure. [Modes for carrying out the invention]

[0011] One or more specific embodiments of this disclosure are described below. For the sake of brevity in describing these embodiments, not all features of the actual embodiments are described herein. As with any technical or design project, it should be understood that in developing any such actual implementation configuration, a number of implementation-specific decisions will need to be made to achieve the developer's specific goals, which may differ from implementation to implementation, such as compliance with system and business-related constraints. Furthermore, it should be understood that while such development efforts may be complex and time-consuming, they are routine design, fabrication, and manufacturing tasks for those skilled in the art who benefit from this disclosure.

[0012] When introducing elements of various embodiments of the present invention, the articles "a," "an," and "the" indicate the presence of one or more elements. The terms "comprising," "including," and "having" are comprehensive and mean that additional elements other than those described may exist. Furthermore, it should be understood that references to "one embodiment" or "one embodiment" of the present invention are not intended to be interpreted as excluding the existence of additional embodiments incorporating similarly described features.

[0013] This embodiment is directed to a multi-section show robot that can be configured to move along the amusement park environment to interact with and / or provide a performance (e.g., a show) to amusement park guests. The multi-section show robot may include a primary robot section (e.g., a base robot), also referred herein as a “primary robot” and a secondary robot section (e.g., a parasitic robot), also referred herein as a “secondary robot”. The primary robot may include a primary motion platform that enables the multi-section show robot to traverse terrain such as various areas or districts of an amusement park where guests may be located. For example, the primary motion platform may include a propulsion system having one or more wheels, tracks, legs, and / or other suitable mechanisms or devices that enable the primary motion platform to propel the multi-section show robot along a path. The secondary robot may include an animatronics system that forms at least part of the theme or character (e.g., a dragon, a wolf, or other creature) of the multi-section show robot. In particular, the animatronics system may include one or more operable limbs or attachments (e.g., arms, heads), thematic covering structures (e.g., fur, scales), audio output devices (e.g., acoustic speakers), and / or visual output devices (e.g., lighting features, displays) that can enhance the sense of reality perceived by guests of the themes or characters depicted by the multi-section show robot. In some embodiments, the secondary robot includes an array of sensors that enable the secondary robot to detect guests approaching the multi-section show robot and evaluate the guests' interactions and / or responses with the multi-section show robot. Based on the feedback obtained by the sensors, the secondary robot may initiate, adjust, terminate, or otherwise modify the interaction between the multi-section show robot and one or more guests.In this embodiment, the primary robot can generally perform actions that facilitate the movement and / or repositioning of multi-section show robots in an amusement park, while the secondary robot is adapted to enhance the immersive experience between park guests and the multi-section show robots.

[0014] As will be described in detail below, the secondary robot may be one of several secondary robots that are detachably coupled to the primary robot. Therefore, the primary robot can be interchangeably equipped with various secondary robots having different themes or characters. In this way, the overall theme or character of the multi-section show robot can be easily and quickly adjusted by changing the type of secondary robot coupled to the primary robot (e.g., a specific theme or character). For this reason, the multi-section show robot can utilize the same operating platform (e.g., the primary robot) to provide a robot system with multiple unique themes that guests can interact with, thereby reducing the overall manufacturing complexity and / or maintenance costs of the multi-section show robot (compared to, for example, manufacturing a separate show robot for each theme or character). In some embodiments, the primary robot may be configured to determine the type of secondary robot coupled to it (e.g., a specific theme or character), and its operation (e.g., operating speed, operating style) can be adjusted based on the detected type of secondary robot. In fact, various programmed aspects of the multi-section show robot (e.g., gestures, audible output, visual output) can be automatically adjusted based on the type of secondary robot coupled to the primary robot.

[0015] In some embodiments, the secondary robot may be configured to selectively detach from the primary robot during a first time period, such as when the primary robot arrives at a target location within 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 enables the secondary robot to traverse the amusement park environment along a first path independent of the primary robot's second path. In this way, the primary and secondary robots can interact with amusement park guests separately and independently. For clarity, as used herein, the term “path” can refer to any one-dimensional (1D) (e.g., along a trajectory), two-dimensional (2D) (e.g., along a defined or undefined planar path), three-dimensional (3D) (e.g., movement through the air, underwater, along structures that can also be traversed at depth and altitude), or four-dimensional (4D) (e.g., having a defined temporal phase) path on which the primary and / or secondary robots can travel. As will be described later, the path may be adaptive (e.g., controlled by a multi-section robot) and can be updated based on sensor feedback obtained by one or more sensors of the multi-section show robot. In some embodiments, the primary and secondary robots may be configured to interact with the guest differently depending on whether the robots are in an engaged configuration (e.g., physically coupled to each other to form a multi-section show robot) or a disengaged configuration (e.g., physically separated from each other).

[0016] In certain embodiments, the secondary robot can be configured to recombine with the primary robot (e.g., another primary robot traversing the amusement park environment) during a second time period, such as when the secondary robot's output level (e.g., battery level) falls below a threshold. Upon recombination of the primary and secondary robots, the primary robot can initiate a charging procedure to charge the secondary robot's power source (e.g., battery), perform a transport procedure to return the secondary robot to a designated base station, or perform another appropriate action. Thus, in certain embodiments, the primary robot can be used to deliver the secondary robot to various locations in the amusement park and retrieve it from there. In this way, it will be seen that the multi-section show robots discussed herein can easily provide amusement park guests with a unique multi-section robotic experience using fewer hardware components than conventional animatronics systems.

[0017] With the above brief overview in mind, Figure 1 is a schematic diagram of one embodiment of a robot system 10 having a primary robot 12 (e.g., a first robot) and a secondary robot 14 (e.g., a second robot) which together may form a multi-section show robot 16. The primary robot 12 includes a first processing system 18 having a first controller 20, and the secondary robot 14 includes a second processing system 22 having a second controller 24. The first controller 20 may be communicatively coupled to a first communication component 26 of the primary robot 12, and the second controller 24 may be communicatively coupled to a second communication component 28 of the secondary robot 14. In some embodiments, the first and second communication components 26, 28 enable communication (e.g., data transmission, signal transmission) between the first controller 20 and the second controller 24 via one or more wireless communication channels. In some embodiments, the first and second controllers 20, 24 can be coupled to communicate with each other via a network 29 and a system controller 30 of the robot system 10. For example, the system controller 30 may include a communication component 31 that can receive communication signals from the first controller 20 (e.g., via the network 29) and transmit communication signals to the second controller 24 (e.g., via the network 29), and vice versa. Furthermore, as will be described later, the first and second controllers 20, 24 can be coupled to communicate with each other via wired communication channels that may be included in the respective electrical coupling systems 32 of the primary and secondary robots 12, 14.

[0018] The first controller 20, the second controller 24, and the system controller 30 each include respective processors 34, 36, 38 and memory devices 40, 42, 44. The processors 34, 36, 38 may include microprocessors and are capable of executing software to control the components of the primary and secondary robots 12, 14, analyze sensor feedback obtained by respective sensors of the primary and secondary robots 12, 14, and / or control any other suitable components of the robotic system 10. The processors 34, 36, 38 can 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 34, 36, 38 can include one or more reduced instruction set computer (RISC) processors. The memory devices 40, 42, 44 can include volatile memory such as random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM). The memory devices 40, 42, 44 can store information such as control software (e.g., control algorithms for controlling the primary and / or secondary robots 12, 14), look-up tables, setting data, communication protocols, and the like.

[0019] For example, the memory devices 40, 42, 44 can store processor-executable instructions, such as firmware or software for execution by the processors 34, 36, 38, for example, instructions for controlling any of the components of the primary and secondary robots 12, 14 discussed herein and / or instructions for controlling any other suitable components of the robotic system 10. In some embodiments, the memory devices 40, 42, 44 are tangible, non-transitory, machine-readable media that can store machine-readable instructions for execution by the processors 34, 36, 38. The memory devices 40, 42, 44 can include ROM, flash memory, hard drives, any other suitable optical, magnetic, or solid-state storage media, or a combination thereof.

[0020] Any of the processes and techniques disclosed in this specification may be executed, in whole or in part, by the first processing system 18, the second processing system 22, and / or the system controller 30, which may be collectively referred to herein as the computer system 41. It should be understood, therefore, that the computer system 41 can include the first processing system 18, the second processing system 22, the system controller 30, or any combination thereof. Accordingly, the discussion herein regarding the execution of control processes or routines via the computer system 41, the storage of data, the formation of control outputs, and / or the execution of other operations is intended to represent computational processing that can be performed, in part or in whole, by the first processing system 18 of the first robot 12, the second processing system 22 of the second robot 14, and / or the system controller 30.

[0021] The first controller 20 may be communicatively coupled to one or more first sensors 45 of the primary robot 12, and the second controller 24 may be communicatively coupled to one or more second sensors 46 of the secondary robot 14. The first and second sensors 45, 46 can acquire feedback (e.g., sensor data) of various operating parameters of the primary and secondary robots 12, 14 and / or features of the surroundings of the primary and secondary robots 12, 14 (e.g., objects, amusement park guests). The first and second sensors 45, 46 can provide (e.g., transmit) the acquired feedback to the first and second controllers 20, 24, respectively. As a non-limiting example, the first and second sensors 45, 46 may include proximity sensors, acoustic sensors, cameras, infrared sensors, and / or any other suitable sensors. Thus, the feedback obtained by the first and second sensors 45, 46 can facilitate the operation of the multi-section show robot 16 according to the techniques discussed herein. In some embodiments, the feedback obtained by the first sensor 45 can enable control of both the primary robot 12 and the secondary robot 14, so that the second sensor 46 can be omitted from the secondary robot 14. Conversely, in other embodiments, the feedback obtained by the second sensor 46 can enable control of both the primary and secondary robots 12, 14, so that the first sensor 45 can be omitted from the primary robot 12.

[0022] In the illustrated embodiment, the primary robot 12 includes a primary motion platform 50 (e.g., a first propulsion system) configured to propel the primary robot 12 along a path, and the secondary robot 14 includes a secondary motion platform 52 (e.g., a second propulsion system) configured to propel the secondary robot 14 along a path or another suitable path. The primary and secondary motion platforms 50, 52 each include a corresponding actuator 54 (e.g., an electric motor, a hydraulic motor, a pneumatic motor) that enables the primary and secondary motion platforms 50, 52 to move the primary and secondary robots 12, 14 along the corresponding paths. As an example, the actuator 54 may be configured to drive one or more wheels, tracks, legs, propellers, and / or other suitable mechanisms or devices of the primary and secondary motion platforms 50, 52 that enable the movement of the primary and secondary robots 12, 14. The primary and secondary motion platforms 50, 52 can each be communicably coupled to a first controller 20 and a second controller 24, respectively. Therefore, the first and second controllers 20, 24 can send instructions to the first and second motion platforms 50, 52 (for example, to the corresponding actuators 54) to move the first and second robots 12, 14 along the corresponding paths. In some embodiments, the first and second controllers 20, 24 may include respective motion control modules 56 that enable the first and second controllers 20, 24 to control the primary and secondary motion platforms 50, 52 according to the motion specifications or control routines discussed herein.

[0023] In the illustrated embodiment, the primary robot 12 includes a first interaction system 58 (e.g., a first animatronics system), and the secondary robot 14 includes a second interaction system 60 (e.g., a second animatronics system). The first and second interaction systems 58 and 60, respectively, may include one or more audio output devices 62 (e.g., speakers), one or more visual output devices 64 (e.g., lights, displays, projectors, etc.), and one or more gesture output devices 66 (e.g., movable attachments such as arms or heads, other operable mechanical features), enabling the multi-segment show robot 16 to perform a show and / or interact with users (e.g., amusement park guests), as will be discussed in detail below. The first interaction system 58 is communicatively coupled to a first controller 20, and the second interaction system 60 is communicatively coupled to a second controller 24. Thus, the first and second controllers 20, 24 can instruct the first and second interaction systems 58, 60 to output audio, visual, or gesture outputs for a specified time period, such as when it is detected that a guest is within a threshold distance of the primary robot 12 and / or secondary robot 14. In some embodiments, the first interaction system 58 may be controlled based on feedback from a second sensor 46, and the second interaction system 60 may be controlled based on feedback from a first sensor 45. For example, a computer system 41 can instruct the second interaction system 60 to output specific audio, visual, and / or gesture outputs based on feedback from the first sensor 45 indicating a collision between the primary robot 12 and an object.

[0024] In some embodiments, the first processing system 18 includes a first character control library 70, and the second processing system 22 includes a second character control library 72. As will be described later, the first and second character control libraries 70, 72 may be stored on their respective memory devices 40, 42 and, when executed, may include various control routines or algorithms that enable the controllers 20, 24 to control the first and second interaction systems 58, 60 to emulate a particular character (e.g., a dragon, a wolf, or other creature) or theme. For example, the first and second character control libraries 70, 72 can specify the types of audio recordings, visual displays, and / or gesture actions that should be output by the respective audio output devices 62, visual output devices 64, or gesture output devices 66 of the primary and secondary robots 12, 14 when it is detected that a guest is within the threshold range of the primary robot 12, the secondary robot 14, or both.

[0025] In certain embodiments, the first processing system 18 includes a first navigation module 80, and the second processing system 22 includes a second navigation module 82 which can be executed by the respective processors 34, 36. The first and second navigation modules 80, 82 may include control algorithms or other processor-executable routines that enable the first and second controllers 20, 24 to determine the positions of the primary robot 12 and the secondary robot 14, respectively, and to facilitate the movement of the primary and secondary robots 12, 14 along a desired path. For example, in certain embodiments, the navigation modules 80, 82 can facilitate the processing of tracking signals received from the respective tracking sensors 86 (e.g., Global Positioning System [GPS] sensors) of the primary and secondary robots 12, 14, which can be configured to monitor the respective positions of the primary and secondary robots 12, 14 in an environment (e.g., a designated roaming area in an amusement park). For clarity, as used herein, “roaming area” can correspond to a spatial area such as a walkway or courtyard, which may be configured for the primary robot 12, the secondary robot 14, or both to move. The roaming area may include an envelope of movement defined by geofencing.

[0026] In some embodiments, the robot system 10 includes a machine vision system 88 that can facilitate tracking of the primary and / or secondary robots 12, 14 in addition to, or instead of, the tracking sensor 86, as will be discussed in detail below. For example, the machine vision system 88 may include one or more cameras 90 or other image sensors configured to acquire image data (e.g., real-time video feeds) of the primary and secondary robots 12, 14 as they move across the environment. The system controller 30 may be configured to analyze the image data acquired by the machine vision system 88 and, based on such analysis, extract the respective positions of the primary and secondary robots 12, 14 relative to a reference point in the environment.

[0027] In the illustrated embodiment, the primary robot 12 includes a first coupling system 94, and the secondary robot 14 includes a second coupling system 96. The first and second coupling systems 94 and 96 enable the primary and secondary robots 12 and 14 to selectively couple (e.g., physically attach) or disconnect (e.g., physically detach) from one another. As a non-limiting example, the first and second coupling systems 94, 96 may include any suitable device or system that facilitates the transition of a multi-section show robot between an assembled or engaging configuration in which the first and second robots 12, 14 are coupled (e.g., physically coupled, mechanically coupled) and a detached or disengaged configuration in which the primary and secondary robots 12, 14 are decoupled (e.g., mechanically detached).

[0028] In certain embodiments, the primary robot 12 includes a first electrical coupler 100 (e.g., a male plug or socket), and the secondary robot 14 includes a second electrical coupler 102 (e.g., a female plug or socket). These first and second electrical couplers 100, 102 form at least part of the electrical coupling system 32. The first and second electrical couplers 100, 102 facilitate wired communication between the first and second robots 12, 14, in addition to, or instead of, the wireless communication channels that can be provided by the first and second communication components 26, 28. The first and second electrical couplers 100, 102 can be configured to be electrically coupled to each other when the primary robot 12 is physically coupled to the secondary robot 14 via the engagement of the first and second coupling systems 94, 96. For this purpose, the first and second electrical couplers 100, 102 facilitate the transmission of data signals and / or power from the primary robot 12 to the secondary robot 14, and vice versa.

[0029] In the illustrated embodiment, the primary robot 12 includes a first power supply 106 (e.g., a first battery module) configured to power the components of the primary robot 12. The secondary robot 14 includes a second power supply 108 (e.g., a second battery module) configured to power the components of the secondary robot 14. In the engagement (e.g., coupling) configuration of the primary and secondary robots 12, 14 (e.g., the assembled configuration of the multi-section show robot 16), the first and second electrical couplers 100, 102 allow current to flow between the first and second power supplies 106, 108. Controllers 20, 24 can regulate the power flow through the electrical couplers 100, 102 and the power flow between the first and second power supplies 106, 108 so that the first power supply 106 can be used to charge the second power supply 108, or vice versa. Each charging module 110 of the first and second processing systems 18 and 22 can be run on the controllers 20 and 24 to enable the controllers 20 and 24 to monitor, regulate, and / or otherwise adjust the output flow between the first and second power supplies 106 and 108. In other embodiments, the first and second robots 12 and 14 may include a wireless power transfer device (e.g., an induction-based charging system) that enables wireless power transfer between the first power supply 106 and the second power supply 108.

[0030] In some embodiments, the robot system 10 includes a user interface 118 that can be communicatively connected (e.g., via a network 29) to a primary robot 12, a secondary robot 14, and / or any other suitable component of the robot system 10. The user interface 118 can receive user input to enable user-based control of the multi-section show robot 16 or its subcomponents.

[0031] Figure 2 is a flowchart of one embodiment of the process 120 for operating the multi-section show robot 16. As described above, part or all of the process 120 can be performed by one or more of the controllers 20, 24, and 30. The process 120 includes operating the primary robot 12 according to a standard control scheme (e.g., a first control scheme), as shown by block 122. In block 122, the secondary robot 14 can be physically separated from the primary robot 12. The first controller 20 can position the primary robot 12 at a base station (e.g., a charging station) or other suitable location within the amusement park. Alternatively, as will be described later, the first controller 20 can instruct the primary robot 12 to roam along a predefined or undefined route within the amusement park. When operating according to a standard control scheme, the first controller 20 can operate the primary robot 12 to move (e.g., drive, step, or other movements) 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 first operating platform 50).

[0032] As shown by block 124, the first controller 20 can continuously or periodically evaluate whether the secondary robot 14 is coupled to the primary robot 12, for example, via the engagement of coupling systems 94, 96 and / or electrical couplers 100, 102. If the first controller 20 detects that the secondary robot 14 is not coupled to the primary robot 12, the first controller 20 can continue to operate the primary robot 12 according to a standard control scheme. If the first controller 20 detects that the secondary robot 14 is coupled to the primary robot 12, the first controller 20 can identify the type of the secondary robot 14 (e.g., a specified character type), as shown by block 126. For example, the first controller 20 can receive a signal from the second controller 24 that identifies the character type of the secondary robot 14, which can be specified in the character control library 72. As shown in block 128, upon detecting the character type of the secondary robot 14, the first controller 20 is configured to operate the primary robot 12 and selects a character-specific control scheme (for example, one stored in the character control libraries 70 and / or 72; a second control scheme) corresponding to the detected character type of the secondary robot 14. As shown in block 130, the first controller 20 can then operate the components of the primary robot 12, such as the primary operating platform 50, according to the selected character-specific control scheme.

[0033] For example, when operating according to a character-specific control scheme, the first controller 20 can control the primary robot 12 to move (e.g., drive, step, or other movement) based on character-specific movement specifications, which may differ from the standard movement specifications of the primary robot 12. That is, character-specific movement specifications can define a second drive speed, a second step speed, a second step height, etc., of the primary motion platform 50, which may differ from the first drive speed, first step speed, first step height, etc., under which the primary motion platform 50 operates under standard movement specifications. In this way, the primary robot 12 can adjust its overall motion profile based on the desired type of character that the multi-segment show robot 16 should draw.

[0034] Figure 3 is a flowchart of one embodiment of a process 140 for operating a multi-section show robot 16 in a roaming environment (e.g., an amusement park area). Process 140 includes performing a loading procedure to couple a secondary robot 14 to a primary robot 12, as shown by block 142. For example, in some embodiments, a user (e.g., an operator of the robot system 10) can manually couple the secondary robot 14 to the primary robot 12 (e.g., via coupling systems 94, 96) in order to perform the loading procedure. In other embodiments, the primary robot 12 and / or the secondary robot 14 may include their respective manipulators 144 (see, for example, Figure 1) that enable the automatic coupling of the primary and secondary robots 12, 14.

[0035] In any case, upon receiving an indication that the secondary robot 14 is coupled to the primary robot 12, the first controller 20 can instruct the primary robot 12 to move the secondary robot 14 from a first initial location (e.g., a base station) to a first target location (e.g., a location within the amusement park), as shown by block 146. The secondary robot 14 can be configured to detach from the primary robot 12 at the first target location (e.g., via user input or via the operation of the manipulator 144). In this way, the secondary robot 14 can interact with amusement park guests at or near the first target location, or roam (e.g., move autonomously) along a predetermined or undefined path within the amusement park. Once the secondary robot 14 has been delivered to the first target location, the primary robot 12 can return to its first initial location (e.g., a base station), as shown by block 148. Alternatively, as discussed below, the primary robot 12 can continue to roam independently along its path to interact with additional guests in the amusement park.

[0036] In some embodiments, the primary robot 12 may be configured to monitor the health status of the secondary robot 14 while the secondary robot 14 is detached from the primary robot 12 and roaming along the amusement park, as shown by block 150. For example, the first controller 20 may continuously or periodically monitor the output level of the second power supply 108 and evaluate whether the output level falls below a low threshold. If it is determined that the output level of the second power supply 108 falls below a low threshold (for example, if it is determined that the health status of the secondary robot 14 falls below a threshold), the first controller 20 may perform a search operation to locate the secondary robot 14 in the roaming environment and return the secondary robot 14 to a base station (for example, a first initial location), as shown by block 152. In other words, the first controller 20 can instruct the primary robot 12 to move to the current location of the secondary robot 14 (for example, as indicated by the corresponding tracking sensor 86), recombine with the secondary robot 14, and transfer the secondary robot 14 to a second target location (for example, a base station). In some embodiments, the computer system 41 can put the secondary robot 14 into a dormant, inactive, or otherwise powered-down state while the secondary robot 14 is being transferred by the primary robot 12 to and from a specific target location. In other embodiments, the secondary robot 14 may remain operational during these periods so that the multi-section show robot 16 can continue to interact with amusement park guests while the secondary robot 14 is moving to and from various target locations in the amusement park.

[0037] As will be described later, it should be understood that the secondary robot 14 may be one of several secondary robots 14 that can be coupled to the primary robot 12 at a particular time and thereby transported. In fact, the primary robot 12 may be configured to support (e.g., mechanically and / or communicatively coupled to) one, two, three, four, five, or five or more secondary robots 14. Thus, the primary robot 12 may be configured to selectively deliver, transport, and retrieve each of the multiple secondary robots 14. Therefore, it should be understood that in such embodiments, the multi-section show robot 16 may include the primary robot 12 and any one of the one, two, three, four, five, or five or more secondary robots 14 configured to be supported by the primary robot 12.

[0038] Figure 4 is a flowchart of one embodiment of a process 160 for operating a multi-section show robot 16, particularly when the multi-section show robot 16 is in an assembled configuration with primary and secondary robots 12, 14 coupled together. In the illustrated embodiment, process 160 includes monitoring the interaction area of ​​the multi-section show robot 16, as indicated by block 162. The interaction area may include a threshold area of ​​space extending around the multi-section show robot 16. For example, the multi-section show robot 16 may receive feedback from a first sensor 45, a second sensor 46, or both, indicating an object or guest within and / or substantially adjacent to the interaction area.

[0039] The computer system 41 can determine, based on acquired sensor feedback, whether a guest is within the interaction area and / or interacting with the multi-section show robot 16, as shown by block 164. The computer system 41 can identify the occurrence of a guest interaction with the multi-section show robot 16 when the guest steps within the interaction area of ​​the multi-section show robot 16, reaches out or grasps towards a component of the multi-section show robot 16, gives an audible command or visual gesture, or performs another appropriate action. Once the occurrence of a guest interaction is determined, as shown by block 166, the computer system 41 can transition the primary robot 12 into a hibernating state (e.g., powered down or non-operating state) so that the primary operating platform 50 is temporarily deactivated. In the hibernation state, the computer system 41 can cut off or temporarily interrupt output flows (e.g., current flow, hydraulic or pneumatic fluid flow) to various components or systems of the primary robot 12. In other words, in order to transition the primary robot 12 to a hibernation state, the computer system 41 may deactivate one or more components of the primary robot 12 and / or temporarily suspend certain functionalities of the primary robot 12 that would normally be in operation / active when the primary robot 12 is not in a hibernation state. In certain embodiments, when transitioning the primary robot 12 to a hibernation state, the computer system 41 may engage mechanical interlocking features that physically block the movement of certain components or systems of the primary robot 12, as shown by block 167.In this embodiment, the computer system 41 can reduce the electrical and / or mechanical potential energy of the primary robot 12 in order to ensure that the primary robot 12 does not make any careless movements (e.g., movements of the legs or wheels of the primary robot 12) that could interfere with (e.g., touch) the guest during interaction with the guest's multi-section show robot 16.

[0040] For example, to better illustrate the engagement of mechanical interlock features and to facilitate the following discussion, Figure 5 is a schematic diagram of one embodiment of a leg 168 (e.g., attachment) of a primary robot 12, where the leg 168 is in the operating position 170. The leg 168 may be included in the primary operating platform 50 of the primary robot 12. Figure 6 is a schematic diagram of one embodiment of the leg 168 in the stationary position 172. Figures 5 and 6 will be discussed together below.

[0041] The leg 168 includes a first member 174 and a second member 176 connected by a joint 178, and a foot 180 connected to the second member 176. The actuator 54 of the primary motion platform 50 is configured to pivot the first member 174 and / or the second member 176 about the axis 182 of the joint 178, thereby enabling the leg 168 to facilitate the movement of the primary robot 12 across the surface 184. When transitioning the primary robot 12 to a resting state, the computer system 41 instructs the actuator 54 to move the leg 168 to a resting position 172, thereby allowing the interlock feature 190 of the first member 174 to contact the second member 176 and block further rotational movement of the first member 174 about the axis 182 (e.g., counterclockwise 185 with respect to the second member 176). Therefore, the interlock feature 190 can suppress undesirable movement of the leg 168 when the output to the actuator 54 (e.g., electrical output, hydraulic output, pneumatic output) is interrupted, such as when the primary robot 12 transitions to a resting state. It should be understood that various interlock features 190 may be implemented on various other components of the multi-section show robot 16 to block a specific range of movement of these components when the power supply to these components is interrupted or otherwise suspended. In some embodiments, the interlock feature 190 (which may be part of the primary robot 12 or the secondary robot 14) can be operated (e.g., extend, bend, pivot) to actively create a support engagement between robot components (e.g., a first member 174) and then be operable to lock in place to block one or more further movements of the robot components.

[0042] The following discussion continues with reference to Figure 4. When the primary robot 12 is put into a dormant state, the computer system 41 determines whether the interaction between the multi-section show robot 16 and one or more guests is complete, as indicated by block 191. If the computer system 41 determines that the guest interaction is not complete (for example, based on feedback obtained by sensors 45 and / or 46), the computer system 41 instructs the secondary robot 14 to continue interacting with the guest, as indicated by block 192. If the computer system 41 determines that the guest interaction is complete, the computer system 41 may put the primary robot 12 into an active state, as indicated by block 194, so that the primary robot 12 can once again propel the multi-section show robot 16 along the path.

[0043] As briefly described above, in some embodiments, the multi-section show robot 16 can operate in a segmented configuration in which primary and secondary robots 12, 14 can each independently move along the environment (e.g., walk, drive, swim, jump, or otherwise move) and interact with guests in the environment. Figure 7 is a flowchart of one embodiment of a process 200 for operating the multi-section show robot 16 in a segmented configuration. The process 200 includes operating the primary robot 12 according to a first character control scheme (e.g., a first set of control routines, a first control scheme), as shown by block 202, and operating the secondary robot 14 according to a second character control scheme (e.g., a second set of control routines, a second control scheme), as shown by block 204. In blocks 202 and 204, the primary and secondary robots 12, 14 can be physically separated from each other so that the multi-section show robot 16 is in a segmented configuration.

[0044] For example, in some embodiments, the primary robot 12 may be dressed, decorated, or otherwise customized to represent a first character (e.g., a dog), while the secondary robot 14 may be dressed, decorated, or otherwise customized to appear as a second character (e.g., an owl). When the primary robot 12 is detached from the secondary robot 14 (e.g., not physically attached or connected), the primary robot 12 may perform a first character control scheme to interact with the guest according to a first set of pre-programmed modes. That is, when a guest is detected within the interaction area of ​​the primary robot 12 (e.g., via feedback from a first sensor 45), the first controller 20 may instruct the first interaction system 58 to output a first set of audio, visual, and / or gesture outputs corresponding to the first character control scheme. Similarly, when a guest is detected within the interaction area of ​​the secondary robot 14 (for example, via feedback from the second sensor 46), the second controller 24 can instruct the second interaction system 60 to output a second set of voice, visual, and / or gesture outputs corresponding to the second character control scheme. Thus, the primary robot 12 and the secondary robot 14 can provide guests with a unique interactive experience corresponding to the individual characters (e.g., a dog, an owl) depicted by the primary and secondary robots 12 and 14.

[0045] In the illustrated embodiment, process 200 includes coupling the primary and secondary robots 12, 14 with each other (e.g., physically coupling, physically tethering), as shown by block 206. In fact, as described above, the primary robot 12 may be configured to locate and retrieve the secondary robot 14 at specific time intervals, such as when the output level in the secondary power supply 108 of the secondary robot 14 falls below a threshold. Once the computer system 41 detects that the primary and secondary robots 12, 14 are engaged (e.g., physically coupled), it may operate the primary and secondary robots 12, 14 according to a composite character control scheme (e.g., a third control scheme), which may differ from the first and second character control schemes described above, as shown by block 208. In particular, when operating according to a composite character control scheme, the primary and secondary robots 12, 14 may be configured to collaboratively provide an interactive experience to one or more guests. For example, when operating according to a composite character control scheme, guest inputs (e.g., language commands, physical inputs) received by the primary robot 12 and / or outputs (e.g., voice, vision, gestures) generated by the primary robot 12 may influence the show or performance provided by the secondary robot 14, and vice versa. For this reason, the multi-section show robot 16 can provide multiple different show performances that are adjusted based on the current configuration (e.g., mounting, detachment) of the primary and secondary robots 12 and 14.

[0046] Figure 8 is a flowchart of one embodiment of a process 220 for verifying the position of a multi-section show robot 16, particularly when the primary robot 12 and the secondary robot 14 are in an engaged configuration (e.g., physically coupled to each other). The process 220 includes determining a first position of the primary robot 12, as shown by block 222, and determining a second position of the secondary robot 14, as shown by block 224. For example, in some embodiments, a computer system 41 can receive signals from tracking sensors 86 of the primary robot 12 and the secondary robot 14, conveying the first position of the primary robot 12 and the second position of the secondary robot 14 relative to a reference frame. The computer system 41 can determine whether the first position of the primary robot 12 is within a threshold range of the second position of the secondary robot 14, as shown by block 226. As shown by block 228, if the first position is not within the threshold range of the second position, the computer system 41 may perform a fault procedure, for example, by deactivating the multi-section show robot 16 and / or sending a warning to the user interface 118. For example, according to the techniques described above, the primary robot 12, the secondary robot 14, or both, may transition to their respective dormant or power-down states when a fault condition is detected. In some embodiments, the interlock feature 190 can be used to hold the primary and / or secondary robots 12, 14 in a specific stationary position while they are in their respective dormant states. If the first position is within the threshold range of the second position, the computer system 41 may record the current position of the multi-section show robot 16 (for example, in memory devices 40, 42, and / or 44), as shown by block 230, and return to block 222.

[0047] Figure 9 is a flowchart of an embodiment of process 240 for monitoring the position of a multi-section show robot 16 using a machine vision system 88 (see Figure 1), and this process 240 monitors the position of the multi-section show robot 16, particularly when the multi-section show robot 16 is in an assembled configuration in which primary and secondary robots 12, 14 are coupled to each other. It should be understood that the machine vision system 88 may be separated from the multi-section show robot 16 (for example, physically disconnected). As an example, the machine vision system 88 may be coupled to an unmanned aerial vehicle (e.g., a drone) configured to fly above the roaming area of ​​the multi-section show robot 16. In the illustrated embodiment, process 240 includes acquiring image data of the roaming area of ​​the multi-section show robot 16, as shown by block 242. For example, in some embodiments, a computer system 41 may be configured to receive a substantially real-time video feed of the roaming area and the multi-section show robot 16 via one or more cameras 90 of the machine vision system 88. As shown in block 244, the computer system 41 can be configured to receive position signals from the tracking sensor 86 of the primary robot 12 and / or the tracking sensor 86 of the secondary robot 14, indicating the current position of the multisection show robot 16 in the roaming environment. As shown in block 246, based on an analysis of the position signals, the computer system 41 can instruct the machine vision system 88 to acquire additional image data of a subregion of the roaming area identified as having the multisection show robot 16. For example, the machine vision system 88 can adjust the magnification or zoom or camera 90, the position and / or orientation of camera 90 (e.g., via a corresponding actuator), and other operating parameters of camera 90 to image the subregion with a finer granularity compared to the granularity at which the subregion can be imaged in block 242.In this way, the machine vision system 88 can acquire image data of the multi-section show robot 16 and image data of sub-regions of the roaming area having the multi-section show robot 16, continuously or intermittently (for example, after a threshold time interval has elapsed), as shown by block 248. It should be understood that process 240 can also be used to independently acquire image data of the primary robot 12 and the sub-region occupied by the primary robot 12, as well as image data of a second sub-region occupied by the secondary robot 14, such as when the primary and secondary robots 12, 14 move independently across the roaming area.

[0048] Figure 10 is a schematic diagram of some embodiments of the robot system 10. In some embodiments, the primary robot 12 may include a vehicle 260 configured to transport one or more passengers along a guided or unguided path 262 of the attraction 264. The vehicle 260 may include a first coupling system 94 and / or a first electrical coupler 100 configured to couple with a second coupling system 96 and / or a second electrical coupler 102 of the secondary robot 14. The secondary robot 14 may be selectively coupled to the vehicle 260 to provide a show or performance to guests as the vehicle 260 moves along the path 262. The secondary robot 14 may be replaced with other secondary robots (e.g., secondary robots configured to portray other characters or themes) according to the techniques described above, thus allowing for customization of the show performances provided by the attraction 264 (e.g., during a ride cycle of the attraction 264).

[0049] Figure 11 is a schematic diagram of one embodiment of a multi-section show robot 16. In some embodiments, the primary robot 12 and the secondary robot 14 can be mechanically and / or communicatively coupled to each other via a tether device 280 (e.g., one or more tethers, a chain of tethers). The tether device 280 may include ropes, cables, chains, or other suitable tethers. In some embodiments, electrical cables and / or optical cables (e.g., optical fibers) may be integrated with the tether device 280 to facilitate data transmission between the primary and secondary robots 12, 14. In certain embodiments, the primary robot 12 may be configured to propel the secondary robot 14 along the environment (e.g., pull or push) such that the secondary operating platform 52 is omitted from the secondary robot 14 and replaced with passive wheels, skids, or other devices. In embodiments where the secondary robot 14 includes a secondary motion platform 52, the secondary motion platform 52 can be made operable (for example, via signals sent by a second controller 24) to guide the secondary robot 14 along a path that synergistically or detrimentally interferes with the path of the primary robot 12. In some embodiments, the secondary robot 14 may include an unmanned aerial vehicle (UAV) 284 or other suitable drone. The UAV 284 may be coupled to the primary robot 12 via a tethering device 280, or it may be physically detached from the primary robot 12 so that the tethering device 280 is omitted. Furthermore, it should be understood that the multi-section show robot 16 may include multiple tethering devices 280 configured to physically and / or communicatively couple multiple secondary robots 14 to the primary robot 12.

[0050] In some embodiments, the tethering device 280 may be omitted from the multi-section show robot 16, and the secondary motion platform 52 may be configured to direct the secondary robot 14 along a path that follows or precedes the movement path of the primary robot 12. For example, the secondary motion platform 52 may, based on signals received from the computer system 41, propel the secondary robot 14 so that it remains within a threshold distance of the primary robot 12 when the primary robot 12 traverses a particular path.

[0051] In some embodiments, the primary robot 12, the secondary robot 14, or both may include one or more collision mitigation features 288, such as airbags, dampers, stabilizing legs, or other suitable devices or systems, configured to mitigate, dampen, or otherwise reduce impact forces that may result from an accidental collision between the primary and secondary robots 12, 14 and the object 290. The computer system 41 may be configured to detect an impending impact between the primary or secondary robot 12, 14 and the object 290 (for example, based on feedback obtained by first and / or second sensors 45, 46) and to substantially deploy some or all of the collision mitigation features 288 before or during the impact. In this way, the collision mitigation features 288 can reduce wear or performance degradation that may occur as a result of a collision between the multi-section show robot 16 and the object 290.

[0052] Figure 12 is a schematic diagram of one embodiment of the multi-section show robot 16. As described above, the secondary robot 14 may be one of several secondary robots 300 included in the multi-section show robot 16. The secondary robot 300 may be positioned relative to the primary robot 12 and configured to maintain a specific orientation and / or position relative to the primary robot 12 as the primary robot 12 moves along the path 302. A covering material 304 (e.g., rubber, another suitable elastic material) may be bonded to and placed on the primary robot 12 and the secondary robot 300, thereby providing the illusion that the multi-section show robot 16 is a cohesive structure having a single body. The covering material 304 may be customized thematically or otherwise to enhance the overall character (e.g., a dragon, wolf, or other creature) depicted by the multi-section show robot 16.

[0053] In some embodiments, the computer system 41 can selectively instruct one or more of the secondary robots 300 to adjust their relative position to the primary robot 12 while the primary robot 12 is stationary or moving along the path 302. In a non-limiting example, the computer system 41 can instruct the secondary robots 300 to increase or decrease the respective radial dimensions 308 between the secondary robots 300 and the primary robot 12 as the primary robot 12 moves from an initial position 310 to a target position 312 on the path 302. Thus, the secondary robots 300 can extend the covering material 304 (for example, radially outward relative to the primary robot 12) or retract the covering material 304 (for example, radially inward relative to the primary robot 12), allowing the overall visible body of the multisection show robot 16 (for example, defined at least partially by the covering material 304) to expand, contract, or otherwise shift. As an example, in this embodiment, cooperation between the primary robot 12 and the secondary robot 300 allows the multi-section show robot 16 to transition between a stationary state 320 and an extended state 322, thereby providing the illusion that the body of the multi-section show robot 16 expands or contracts.

[0054] As described above, embodiments of the present disclosure can provide one or more technical effects useful for providing guests in an amusement park environment with multiple unique themed robot experiences through a robot system having a multi-section show robot. The multi-section show robot includes a primary robot platform and one or more selectively engageable secondary robot platforms that enable the multi-section robot to play characters of various themes and / or perform various shows or performances. Thus, the multi-section show robot can reduce the overall manufacturing complexity and / or maintenance costs of the robot system compared to conventional robot systems that may include dedicated show robots corresponding to specific individual characters. The technical effects and problems described herein are examples only and not limiting. It should be noted that the embodiments described herein may have other technical effects and solve other technical problems.

[0055] While this specification has illustrated and described only specific embodiments, many modifications and changes will be made as soon as possible by those skilled in the art. Therefore, it should be understood that the appended claims are intended to protect all such modifications and changes that fall within the true spirit of this disclosure. It should also be understood that any of the features illustrated or described in relation to the above-mentioned figures can be combined in any preferred manner.

[0056] The technologies presented and claimed herein are based on and applied to tangible objects and practical properties that clearly improve the art of the present invention and are therefore not abstract, intangible, or purely theoretical. Furthermore, if any claim appended to this specification includes one or more elements designated as “means for performing a certain function” or “steps for performing a certain function,” such elements are intended to be construed under § 112(v) of the United States Patent Act. However, with respect to any claim that includes elements designated in any other manner, such elements shall not be construed under § 112(f) of the United States Patent Act. [Explanation of Symbols]

[0057] 12 Primary Robots 14 Secondary Robots 16 Multi-Section Show Robots 20 First Controller 24 Second Controller

Claims

1. A robotic system including a multi-section show robot, The aforementioned multi-section show robot is At least one controller, A primary robot comprising one or more sensors configured to obtain feedback indicating the environment surrounding the primary robot, and comprising a primary appearance corresponding to a first character of the theme, A plurality of secondary robots capable of autonomously moving along a different path from the primary robot, including a first secondary robot having a second appearance corresponding to a second character of the theme, wherein the second appearance differs from the first appearance, the plurality of secondary robots include a second secondary robot, and the first secondary robot and the second secondary robot are connected between a disengagement configuration in which the primary robot is separated from the first secondary robot and the second secondary robot, a first engagement configuration in which the primary robot is coupled to the first secondary robot, and a second engagement configuration in which the primary robot is coupled to the second secondary robot. A plurality of secondary robots, configured to be detachably coupled to the primary robot for the purpose of moving a multisection show robot, wherein at least one controller is configured to instruct at least the primary robot based on the feedback and one or more first character control schemes when the multisection show robot is in the disengaged configuration, and the at least one controller is configured to instruct the primary robot and the first secondary robot based on one or more second character control schemes when the multisection show robot is in the first engaged configuration, A robotic system, including...

2. The robot system according to claim 1, wherein the first secondary robot includes one or more additional sensors, the at least one controller includes a controller corresponding to the primary robot and an additional controller corresponding to the first secondary robot, and the one or more additional sensors are configured to obtain additional feedback indicating the environment surrounding the first secondary robot.

3. The aforementioned additional controller is The first secondary robot is instructed at least based on the additional feedback and the first determination that the multi-section show robot is in the disengagement configuration. The first secondary robot is instructed at least based on the additional feedback and the second determination that the multi-section show robot is in the first engagement configuration. The robot system according to claim 2, configured as described above.

4. The robot system according to claim 1, wherein at least the primary robot, the first secondary robot, or the second secondary robot includes an interaction system having at least an audio output device, a visual output device, or a gesture output device.

5. The robot system according to claim 1, wherein the one or more first character control methods and the one or more second character control methods define the operating specifications of at least the propulsion system of the primary robot.

6. The robot system according to claim 1, comprising a system controller and a machine vision system communicatively coupled to the system controller, wherein the machine vision system is configured to acquire image data of at least the primary robot, the first secondary robot, or the second secondary robot, and the system controller is configured to monitor the relative positions of at least the primary robot, the first secondary robot, or the second secondary robot based on the image data.

7. The robot system according to claim 1, wherein the primary robot includes an attraction ride vehicle.

8. The robot system according to claim 1, wherein in the first engagement configuration or the second engagement configuration of the multi-section show robot, the primary robot and at least the first secondary robot or the second secondary robot are coupled via a tether.

9. The robot system according to claim 1, wherein the first character is different from the second character.

10. The robot system according to claim 1, wherein the first character is the same as the second character.

11. The robot system according to claim 1, wherein the one or more first character control methods are one or more character control methods among a plurality of character control methods stored in a first character control library, and the one or more second character control methods are one or more character control methods among a plurality of character control methods stored in a second character control library.

12. A method for operating a multi-section show robot, A step of generating feedback indicating the environment surrounding the primary robot of the multi-section show robot via one or more sensors of the primary robot, wherein the primary robot includes a first appearance corresponding to a first character of the theme, Steps include: instructing at least the primary robot or the first secondary robot via one or more controllers to produce at least one or more first movements of the primary robot or the first secondary robot, wherein the first secondary robot is capable of autonomously moving along a different path from the primary robot, includes a second appearance corresponding to a second character of the theme, the second appearance differs from the first appearance, and the one or more first movements are based on one or more character control schemes and feedback, the feedback indicating a first spatial relationship between the primary robot and the first secondary robot; A step of instructing at least the primary robot or the second secondary robot via the one or more controllers to produce at least one or more second movements of the primary robot or the second secondary robot, wherein the one or more second movements are based on the one or more character control schemes and the feedback, the feedback indicates a second spatial relationship between the primary robot and the second secondary robot, and the one or more second movements are different from the one or more first movements. Methods that include...

13. The steps include: performing a loading procedure to connect the first secondary robot to the primary robot; The steps include transporting the first secondary robot from its initial position to its target position via the primary robot, In order to place the first secondary robot at the target position, the first secondary robot is separated from the primary robot at the target position, The method according to claim 12, including the method described in claim 12.

14. Based on the feedback, the step of determining that the first spatial relationship corresponds to a first engagement configuration in which the first secondary robot is coupled to the primary robot, Based on the feedback, the step of determining that the second spatial relationship corresponds to a second engagement configuration in which the second secondary robot is coupled to the primary robot, The method according to claim 12, including the method described in claim 12.

15. The method according to claim 12, wherein the one or more first movements include at least the primary robot or the first secondary robot moving along a first path based on the one or more character control schemes, and the one or more second movements include at least the primary robot or the second secondary robot moving along a second path based on the one or more character control schemes, wherein the second path is different from the first path.

16. The steps include generating first additional feedback indicating a first additional environment surrounding the first secondary robot of the multi-section show robot via one or more first additional sensors of the first secondary robot, The steps include generating a second additional feedback indicating a second additional environment surrounding the second secondary robot of the multisection show robot via one or more second additional sensors of the second secondary robot, The steps include monitoring the interaction area surrounding the multisection show robot in order to identify the occurrence of guest interaction by a guest with the multisection show robot, based at least on the feedback, the first additional feedback, or the second additional feedback, The steps include instructing at least the primary robot or the first secondary robot, via the one or more controllers, to generate one or more first audio outputs directed towards the guest in response to the occurrence of the guest interaction, A step of instructing at least the primary robot or the second secondary robot to generate one or more second audio outputs directed to the guest in response to the occurrence of the guest interaction, via the one or more controllers, wherein the one or more second audio outputs are different from the one or more first audio outputs. The method according to claim 12, including the method described in claim 12.

17. The first movement of the one or more described above includes the first robot moving at a first operating speed and a first operating style, and the first secondary robot moving at a second operating speed and a second operating style, based on the one or more described above character control methods, wherein the first operating speed is different from the second operating speed, and the first operating style is different from the second operating style. The first or second or more second movements include, based on the first or second or more character control methods, the first primary robot moving at a third operating speed and a third operating style, and the second secondary robot moving at a fourth operating speed and a fourth operating style, wherein the third operating speed is different from the fourth operating speed, and the third operating style is different from the fourth operating style. The method according to claim 12.

18. The steps include generating first additional feedback indicating a first additional environment surrounding the first secondary robot of the multi-section show robot via one or more first additional sensors of the first secondary robot, The steps include generating a second additional feedback indicating a second additional environment surrounding the second secondary robot of the multisection show robot via one or more second additional sensors of the second secondary robot, The steps include monitoring the interaction area surrounding the multisection show robot in order to identify the occurrence of guest interaction by a guest with the multisection show robot, based at least on the feedback, the first additional feedback, or the second additional feedback, The steps include instructing at least the primary robot or the first secondary robot, via the one or more controllers, to generate one or more first gesture outputs directed towards the guest in response to the occurrence of the guest interaction, A step of instructing at least the primary robot or the second secondary robot to generate one or more second gesture outputs directed towards the guest in response to the occurrence of the guest interaction, via the one or more controllers, wherein the one or more first gesture outputs are different from the one or more second gesture outputs. The method according to claim 12, including the method described in claim 12.

19. The steps include generating first additional feedback indicating a first additional environment surrounding the first secondary robot of the multi-section show robot via one or more first additional sensors of the first secondary robot, The steps include generating a second additional feedback indicating a second additional environment surrounding the second secondary robot of the multisection show robot via one or more second additional sensors of the second secondary robot, The steps include monitoring the interaction area surrounding the multisection show robot in order to identify the occurrence of guest interaction by a guest with the multisection show robot, based at least on the feedback, the first additional feedback, or the second additional feedback, The steps include instructing at least the primary robot or the first secondary robot, via the one or more controllers, to generate one or more first visual outputs directed towards the guest via one or more displays of the multi-section show robot, in response to the occurrence of the guest interaction, A step of instructing at least the primary robot or the second secondary robot to generate one or more second visual outputs directed towards the guest in response to the occurrence of the guest interaction, via the one or more controllers, wherein the one or more second visual outputs are different from the one or more first visual outputs. The method according to claim 12, including the method described in claim 12.

20. The one or more first movements described above are based on one or more character control methods from among a plurality of character control methods stored in the first character control library and the feedback, The first or second movement described above is based on one or more character control methods from among a plurality of character control methods stored in the second character control library and the feedback described above. The method according to claim 12.

21. It is a multi-section show robot, A primary robot comprising one or more sensors configured to obtain feedback indicating a first environment surrounding the primary robot, and comprising a primary appearance corresponding to a first character of a theme, A secondary robot capable of autonomously moving along a different path from the primary robot, comprising one or more additional sensors configured to obtain additional feedback indicating a second environment surrounding the secondary robot, wherein the secondary robot includes a second appearance corresponding to a second character of the theme, and the first appearance is different from the second appearance, A computer system including at least the first controller of the primary robot or the second controller of the secondary robot, Includes, The aforementioned computer system, The primary robot receives an indication that it is coupled to the secondary robot, In response to receiving the indication, one or more character control schemes and instructions the primary robot and the secondary robot to perform actions based on at least the feedback or the additional feedback, It is configured in such a way. Multi-section show robot.

22. The aforementioned computer system, Based at least the feedback or the additional feedback, the interaction area surrounding the multi-section show robot is monitored to identify the occurrence of guest interaction by a guest with the multi-section show robot. In response to determining the occurrence of the aforementioned guest interaction, at least the primary robot or the secondary robot is instructed to produce movement of at least the primary robot or the secondary robot. It is configured such that the movement corresponds to a gesture directed at the guest. The multi-section show robot according to claim 21.

23. The multi-section show robot includes an additional secondary robot having a third appearance corresponding to a third character of the theme, the third appearance being different from the first and second appearances, and the computer system is Having received an additional indication that the primary robot is coupled to the additional secondary robot, In response to receiving the aforementioned additional indication, the primary robot and the additional secondary robot are instructed to perform additional actions based on the one or more character control schemes. It is configured in such a way. The multi-section show robot according to claim 21.

24. The aforementioned computer system, Based at least the feedback or the additional feedback, a collision between the primary robot and the secondary robot or an additional collision between the primary robot and an object away from the secondary robot is detected. In response to detecting the aforementioned collision or the aforementioned additional collision, the primary robot is instructed to make the movement of the primary robot. It is configured in such a way. The multi-section show robot according to claim 21.

25. The aforementioned computer system, In response to receiving the aforementioned indication, the system is configured to select one or more character control methods from a plurality of character control methods stored in a character control library, and the one or more character control methods include at least a set of voice recording, visual display, or gesture actions. The aforementioned computer system, The primary robot receives an additional indication that it will be separated from the secondary robot. In response to receiving the aforementioned additional indication, one or more additional character control methods are selected from the plurality of character control methods stored in the character control library. The system is configured such that the additional one or more character control methods include at least an additional set of voice recording, visual display, or gesture actions, and the one or more character control methods are different from the additional one or more character control methods. The multi-section show robot according to claim 21.

26. The multi-section show robot according to claim 21, wherein the first character is different from the second character.

27. The aforementioned computer system, In response to receiving the indication, the system instructs the primary robot to perform an action based on one or more character control methods from a plurality of character control methods stored in the first character control library, and at least the feedback; and instructs the secondary robot to perform an action based on one or more character control methods from a plurality of character control methods stored in the second character control library, and at least the additional feedback. A multi-section show robot according to claim 21, configured as described above.

28. It is a robotic system, Primary robots and The first secondary robot includes the first aesthetic, which corresponds to the first character part of the theme, A second secondary robot capable of autonomously moving along a different path from the primary robot, including a second aesthetic corresponding to the second character portion of the aforementioned theme, A control system including one or more controllers, Includes, The control system is The robot system controls a first action in response to determining a first relationship based on at least one of the engagement relationship, positional relationship, or control method of the first secondary robot between the primary robot and the first secondary robot at a first time point in time. Controlling a second action of the robot system in response to determining a second relationship based on at least one of the engagement relationship, positional relationship, or control method of the second secondary robot between the primary robot and the second secondary robot at a second time point in time. The second action is configured to be different from the first action, Robot system.

29. The robotic system according to claim 28, wherein the first aesthetic differs from the second aesthetic.

30. The robot system according to claim 28, wherein the control system is configured to control a third action of the robot system in response to determining an engagement relationship, positional relationship, or third relationship based on at least one of the control method of the first secondary robot and the control method of the second secondary robot between the primary robot and the first secondary robot at a third time point different from the first and second time points, the third action being different from the first and second actions.

31. The first action, the second action, or both, Operation of the aforementioned robot system, Audio output from the speaker of the robot system, or Visual output from the display, projector, or light of the robot system, The robot system according to claim 28, including the above.

32. The control system is A first action is selected from a first set of actions corresponding to a first character control scheme. The second action is selected from a second set of actions corresponding to the second character control method. The robot system according to claim 28, configured as follows.

33. The robot system according to claim 28, wherein the first character portion and the second character portion correspond to a common character portion.

34. The control system is The first relationship between the primary robot and the first secondary robot is determined by determining the first proximity or engagement between the primary robot and the second secondary robot. The second relationship between the primary robot and the second secondary robot is determined by determining a second proximity or engagement between the primary robot and the second secondary robot. The robot system according to claim 28, configured as follows.

35. The robot system according to claim 34, comprising one or more sensors configured to detect the first proximity or engagement, the second proximity or engagement, or both.

36. The control system is Select the first action from a first set of actions corresponding to a first character control method among a set of character control methods stored in the first character control library. The second action is selected from a second set of actions corresponding to a second character control method among a set of character control methods stored in a second character control library. The robot system according to claim 28, configured as follows.

37. It is a robotic system, A primary robot containing the first aesthetics corresponding to the first character part of the theme, A secondary robot capable of autonomously moving along a different path from the primary robot, including a second aesthetic corresponding to the second character part of the aforementioned theme, A control system including one or more controllers, Includes, The control system is In response to determining that a relationship based on at least one of the engagement relationship and positional relationship between the primary robot and the secondary robot is a first relationship, the robot system controls a first action. In response to determining that the relationship between the primary robot and the secondary robot is a second relationship, the robot system controls a second action. The second action is configured to be different from the first action, Robot system.

38. The robot system according to claim 37, wherein the first character portion and the second character portion correspond to a common character portion.

39. The robot system according to claim 38, wherein the first character portion corresponds to an attachment or head of the common character.

40. The robot system according to claim 37, wherein the control system is configured to determine the relationship between the primary robot and the secondary robot by determining proximity or engagement between the primary robot and the secondary robot.

41. The robot system according to claim 40, wherein the primary robot includes one or more sensors configured to detect proximity or engagement.

42. The first action, the second action, or both, Operation of the aforementioned robot system, Audio output from the speaker of the robot system, or Visual output from the display, projector, or light of the robot system, The robot system according to claim 41, including the above.

43. The control system is Select the first action from a first set of actions corresponding to a first character control method among a set of character control methods stored in the first character control library. The second action is selected from a second set of actions corresponding to a second character control method among a set of character control methods stored in a second character control library. It is configured in such a way. The robot system according to claim 37.

44. It is a robotic system, A first robot containing a first aesthetic corresponding to the first part of the character, A second robot capable of autonomously moving along a different path from the primary robot, including a second aesthetic corresponding to the second part of the character, A control system including one or more controllers, Includes, The control system is Control the first action of the robot system in response to determining the engagement between the first robot and the second robot. Controlling a second action of the robot system in response to determining disengagement between the first robot and the second robot, It is configured in such a way. Robot system.

45. The robot system according to claim 44, wherein the first part of the character includes an attachment or a head.

46. The robot system includes a third robot which includes a third aesthetic corresponding to a third part of the character. The control system is Control the third action of the robot system in response to determining a second engagement between the first robot and the third robot. Controlling a fourth action of the robot system in response to determining a second disengagement between the first robot and the third robot, The robot system according to claim 44, configured as follows.

47. The control system is Control a fifth action of the robot system in response to determining a third engagement between the second robot and the third robot. Controlling a sixth action of the robot system in response to determining a third disengagement between the second robot and the third robot, The robot system according to claim 46, configured as described above.

48. The robot system according to claim 44, wherein the robot system includes one or more sensors configured to detect engagement between the first robot and the second robot, disengagement between the first robot and the second robot, or both.

49. The control system is The proximity between the human and the robot system is detected, Controlling the gestures of the robot system toward a human to determine the engagement between the first robot and the second robot, thereby controlling the first action of the robot system. The robot system according to claim 44, configured as follows.

50. The control system is Select the first action from a first set of actions corresponding to a first character control method among a set of character control methods stored in the first character control library. The second action is selected from a second set of actions corresponding to a second character control method among a set of character control methods stored in a second character control library. It is configured in such a way. The robot system according to claim 44.

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