Trackless vehicle and system for synchronous control of trackless vehicle

Patent metadata

Field	Value
Publication number	US-10053138-B2
Application number	US-201715794219-A
Country	US
Kind code	B2
Filing date	Oct 26, 2017
Priority date	May 11, 2011
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

A motion assembly that produces pitch and roll motions includes lower and upper plates. A pivotable coupling having upper and lower shafts extending from its center is coupled between the upper and lower plates. At least two linear actuators are coupled between the plates. Extension and retraction of the actuators pivots the upper plate about the pivotable coupling relative to the lower plate. A vehicle includes two steerable propulsion wheels coupled to a chassis. A lower plate of a pitch and roll assembly, similar to that just described, couples to the chassis via a slew bearing. Seating is coupled to the upper plate. The seating rotates with respect to the chassis via controlled rotation of the slew bearing with reference to the chassis. The seating can be rotated to point in any direction with respect to the chassis regardless of the direction the steerable propulsion wheels move the chassis.

First claim

What is claimed is:

1. A ride vehicle system, comprising:
a. a ride controller; and
b. a ride vehicle located apart from the ride controller, the ride vehicle comprising:
i. a ride vehicle controller system, comprising:
1. a ride vehicle system controller;
2. a communication interface operatively coupled to the ride vehicle system controller and to the ride controller; and
3. an interrogatable address operatively coupled to the system controller;

ii. a chassis;
iii. a propulsion assembly operatively in communication with the controller system, the propulsion assembly comprising:
1. a first actively steerable propulsion wheel coupled to the chassis, the first actively steerable propulsion wheel rotatable in a first predetermined direction at a first predetermined speed along a preprogrammed route without use of a mechanical track or a wire stretched along the preprogrammed route; and
2. a second actively steerable propulsion wheel coupled to the chassis, the second actively steerable propulsion wheel rotatable in a second predetermined direction at a second predetermined speed along the preprogrammed route without use of a mechanical track or a wire stretched along the preprogrammed route;

iv. a multiple degrees of freedom motion base assembly, the degrees of freedom comprising pitch and roll, the motion base assembly comprising:
1. a lower reaction plate defining a first horizontal plane, the lower reaction plate comprising:
a. a first outer boundary; and
b. a center;

2. an upper reaction plate spaced apart from the lower reaction plate, the upper reaction plate defining a second horizontal plane and comprising:
a. a second outer boundary;
b. a center; and
c. a longitudinal axis defined between each of two opposing ends of the second horizontal plane; and

3. a pivotable coupling, comprising:
a. an upper section coupled to the upper reaction plate proximate the upper reaction plate center, the upper section configured to allow substantially similar displacement of the upper reaction plate about the upper reaction plate center at either end of the two ends of the second horizontal plane; and
b. a lower section pivotably connected to the upper section and coupled to the lower reaction plate proximate the lower reaction plate center;

4. two linear actuator assemblies spaced apart from each other on opposite sides of the pivotable coupling with respect to the upper reaction plate longitudinal axis and from the pivotable coupling, each linear actuator assembly comprising:
a. an actuator coupling connected to the upper reaction plate intermediate the second outer boundary and the pivotable coupling;
b. a connector connected to the lower reaction plate intermediate the first outer boundary and the pivotable coupling; and
c. an electric linear actuator constrained to be extendable and retractable along a longitudinal axis of the electric linear actuator, the electric linear actuator comprising:
 (i) a selectively, forcibly extendable and retractable shaft defining the longitudinal axis of the electric linear actuator;
 (ii) an electric actuator operatively coupled to the selectively, forcibly extendable and retractable shaft;
 (iii) an upper portion coupled to the actuator coupling; and
 (iv) a lower portion connected to the clevis assembly; and
d. an electrical power supply operatively in communication with the two electric linear actuators as a sole source of operating energy for the two electric linear actuators.

2. The ride vehicle system of claim 1 , wherein
a. the vehicle comprises a predetermined set of other electrical components; and
b. the electrical power supply comprises a rechargeable battery operatively in communication with the other electrical components of the vehicle as their sole source of operating energy.

3. The ride vehicle system of claim 1 , wherein the upper portion of at least one electric linear actuator extends at least partially through the upper reaction plate.

4. The ride vehicle system of claim 1 , wherein the communication interface comprises a wireless communication interface.

5. A method, comprising:
a. providing a ride vehicle system, the ride vehicle system comprising:
i. a ride controller; and
ii. a ride vehicle located apart from the ride controller, the ride vehicle comprising:
1. a ride vehicle navigation system, comprising:
a. a ride vehicle system controller;
b. a communication interface operatively coupled to the ride vehicle system controller and to the ride controller; and
c. a first interrogatable address operatively coupled to the system controller;

2. a chassis;
3. a propulsion assembly operatively in communication with the ride vehicle navigation system, the propulsion assembly comprising:
a. a first actively steerable propulsion wheel coupled to the chassis, the first actively steerable propulsion wheel comprising:
 (i) an integrated steering motor; and
 (ii) an integrated drive motor and transmission assembly rotatable in a first predetermined direction at a first predetermined speed along a preprogrammed route without use of a mechanical track or a wire stretched along the preprogrammed route; and
b. a second actively steerable propulsion wheel coupled to the chassis, the second actively steerable propulsion wheel comprising:
 (i) an integrated steering motor; and
 (ii) an integrated drive motor and transmission assembly rotatable in a second predetermined direction at a second predetermined speed along the preprogrammed route without use of a mechanical track or a wire stretched along the preprogrammed route;

iii. a multiple degrees of freedom motion base assembly, the degrees of freedom comprising pitch and roll, the motion base assembly comprising:
1. a lower reaction plate defining a first horizontal plane, the lower reaction plate comprising:
a. a first outer boundary; and
b. a center;

2. an upper reaction plate spaced apart from the lower reaction plate, the upper reaction plate defining a second horizontal plane and comprising:
a. a second outer boundary;
b. a center; and
c. a longitudinal axis defined between each of two opposing ends of the second horizontal plane; and

3. a pivotable coupling, comprising:
a. an upper section coupled to the upper reaction plate proximate the upper reaction plate center, the upper section configured to allow substantially similar displacement of the upper reaction plate about the upper reaction plate center at either end of the two ends of the second horizontal plane; and
b. a lower section pivotably connected to the upper section and coupled to the lower reaction plate proximate the lower reaction plate center;

4. two linear actuator assemblies spaced apart from each other on opposite sides of the pivotable coupling with respect to the upper reaction plate longitudinal axis and from the pivotable coupling, each linear actuator assembly comprising:
a. an actuator coupling connected to the upper reaction plate intermediate the second outer boundary and the pivotable coupling;
b. a connector connected to the lower reaction plate intermediate the first outer boundary and the pivotable coupling; and
c. an electric linear actuator constrained to be extendable and retractable along a longitudinal axis of the electric linear actuator, the electric linear actuator comprising:
 (i) a selectively, forcibly extendable and retractable shaft defining the longitudinal axis of the electric linear actuator;
 (ii) an electric actuator operatively coupled to the selectively, forcibly extendable and retractable shaft;
 (iii) an upper portion coupled to the actuator coupling; and
 (iv) a lower portion connected to the clevis assembly;
d. an electrical power supply operatively in communication with the two electric linear actuators as a sole sourc

Assignees

• Oceaneering Int Inc

Inventors

• Foster Samuel T
• Boshears Michael Wayne
• Grant Andrew Wayne
• Hass Frank Peter
• Jennings Clifford Allen
• King Eric Arthur
• Kroslowitz Kenneth Thomas
• Malghan Suhas Subhaschandra
• Sywak Stephen A

Classifications

• B62D3/02

  mechanical · CPC title

• A63G21/08

  with additional rotation of cars · CPC title

• B62D5/0421 Primary

  Electric motor acting on or near steering gear · CPC title

• A63G7/00

  Up-and-down hill tracks; Switchbacks · CPC title

• F16M2200/048

  for balancing translational movement of the undercarriage · CPC title