CN100446830C - Method for piloting mobile objects, in particular miniature cars, using a multipath guiding process and system using same - Google Patents
Method for piloting mobile objects, in particular miniature cars, using a multipath guiding process and system using same Download PDFInfo
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- CN100446830C CN100446830C CNB2003801065357A CN200380106535A CN100446830C CN 100446830 C CN100446830 C CN 100446830C CN B2003801065357 A CNB2003801065357 A CN B2003801065357A CN 200380106535 A CN200380106535 A CN 200380106535A CN 100446830 C CN100446830 C CN 100446830C
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- movable body
- signal
- track
- control instruction
- points
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H18/00—Highways or trackways for toys; Propulsion by special interaction between vehicle and track
- A63H18/02—Construction or arrangement of the trackway
- A63H18/023—Track control means, e.g. switches
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
- A63H17/395—Steering-mechanisms for toy vehicles steered by program
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H18/00—Highways or trackways for toys; Propulsion by special interaction between vehicle and track
- A63H18/16—Control of vehicle drives by interaction between vehicle and track; Control of track elements by vehicles
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H19/00—Model railways
- A63H19/24—Electric toy railways; Systems therefor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention concerns a method and a system for piloting mobile objects (V1, V2, V3) driven by actuators coupled to an electric power source (T1). The mobile objects are guided by manipulators through a guide circuit. The guide circuit is common to the various mobile objects moving on the same maneuvering circuit. The system comprises: parametering means (CONTROL) for parametering the mobile object based on the selected mobility strategy, and/or transmission means (CONTROL, DATA) for transmitting to said mobile object control instructions concerning the selected mobility strategy, in particular control instructions concerning speed and the guide path used. The mobile object comprises selecting means (A1) for selecting the guide path used based on the mobility strategy. The selection means (A1) are implemented by the mobile objects.
Description
Technical field
The present invention relates to a kind of in pilot circuit the system of controlled motion body.Particularly, its toy vehicle system that is specially adapted to for example lead in orbit.
Background technology
The games system that includes the vehicle loop known in the art, wherein vehicle is guided by the guiding track in this loop.But these systems are provided with a plurality of loops usually, wherein car of each loop guiding.Each car is by providing order to lead to the loop.If there are several vehicles on identical loop, these vehicles will be directed to same method based on the order that provides to the loop so.Concerning the operator, will cause the use of system some dullness that becomes like this, take a long view, may cause fatigue and the people is lost interest to this games system.
Summary of the invention
The objective of the invention is a kind of system that can address this problem.The present invention relates to a kind of system, it can for example import in the control procedure in oriented vehicle loop unexpected and spontaneous in the vehicle loop.It is exactly that it can be controlled different vehicle on same loop independently that the present invention also has an advantage.
The present invention relates to a kind of method that is used for the movable body that on continuous track guiding drives by actuator, this movable body is lilliput car particularly.Movable body includes the pilot circuit in a plurality of tracks by the operator by one and the points at least one permission movable body change track leads, described pilot circuit is public for the various movable bodies along orbital motion continuously, said method comprising the steps of:
Described operator is that described movable body is selected a motion strategy in advance or in real time;
Described operator determines the parameter of described movable body according to selected motion strategy, and/or;
Described operator will be sent to movable body with the tactful control instruction corresponding of selected motion, particularly relevant with guiding track to be used with the speed of described movable body control instruction; And
Described movable body sends the signal that allows according to the employed guiding of described motion policy selection track along described continuous orbital motion the time;
Activate described points according to the signal that sends by described movable body that receives.
Preferably, according to the present invention, the motion strategy is characterised in that following at least one initiation parameter in this method:
The type of movable body;
The mode of travelling;
The type of available resources and/or quantity, such as under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration etc.
Motion strategy is characterised in that at least one in the following specific parameter of travelling simultaneously:
One speed parameter;
One track change parameter.
Preferably, according to invention, in order to determine the parameter of movable body according to selected motion strategy, this method comprises that also the operator is arranged at memory block in the movable body with data and/or macros input.The memory block is associated with the microcontroller of a control actuator.
Preferably, according to the embodiments of the invention variant, in order to be sent to movable body with the tactful control instruction corresponding of selected motion, method comprises by distribute particularly each in the identifier initialization movable body of alpha-numerical establishment of an identifier for movable body.Same this identifier is characterised in that a particular communication channel.In the embodiments of the invention variant, this method is further comprising the steps of:
By control instruction is associated with the identifier of movable body, control instruction is formatted as digital data form;
To on pilot circuit, carry out multiplexing specific to the control instruction and the needed power supply of actuation movement body of each movable body;
The microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to movable body from the multichannel control instruction.
This method also comprises the step of microcontroller according to the control instruction control actuator that is extracted.
Preferably, according to the present invention, the multiplexing of this method is the time-division multiplex transmission.
Preferably, according to the present invention, this time-division multiplex transmission is performed such: after each is used to transmit the stage of the control instruction relevant with given movable body, arranged a power supply stage.
Preferably, according to the present invention, this method also comprises step: the actuator of movable body is powered by the circuit relevant with described pilot circuit in movable body and/or battery and/or rechargeable battery.In order to transmit and the corresponding control command of selected motility strategy, also include following steps:
By being each movable body of identifier initialization of each movable body distribution, this identifier is the identifier of an alpha-numerical establishment particularly;
By control instruction is associated with the identifier of movable body, control instruction is formatted as digital data form;
To the signal of a movable body transmission signal, particularly light, such as infrared signal and/or a voice signal and/or an electromagnetic signal;
The microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to movable body from the multichannel control instruction.
This method also comprises the step of microcontroller according to the control instruction control actuator that is extracted.
Preferably, according to invention, when movable body during around described orbital motion, in order to select the track of leading according to the motion strategy, this method includes following steps:
Given movable body is with a targeting signal, and particularly an optical signal such as infrared signal, sends the receiver that is arranged on pilot circuit and/or the track to;
Receiver to targeting signal decoding to produce a signal that is used to control the state of the points that is associated with described receiver;
Described points is according to the control signal switching state.
In conjunction with the result according to technical characterictic of the present invention be: during along described orbital motion, movable body activates and allows it to change the points of route at movable body.
In conjunction with another result according to technical characterictic of the present invention be: transfer control instruction can see that in fact movable body lateral movement in orbit is equal to by activating the viewed lateral movement of observer that a steering wheel is used to change described movable body direction for the operator of movable body, and observer's visual angle is associated with described movable body.
In conjunction with a result again be: can turn above another movable body by side direction in its front around the movable body that described track moves according to technical characterictic of the present invention.
Preferably, according to the present invention, receiver is arranged on a pilot circuit and/or the track, and be positioned at the points front and certain distance is arranged with it, except first activated the movable body of described points, the change of points state can not make the motion of any movable body change like this.
Preferably, according to the present invention, this method also is included in after the movable body that activates described points crosses, and described points automatically switches to a predetermined state.
Preferably, according to the present invention, described predetermined state is an original state.
Preferably, according to invention, this method also comprises by reader or electromagnetic reader by means of the reader, particularly light that become one with described orbit-shaped, detect the label that is associated with given movable body, thereby determine the number of turns that each movable body is finished around described track.
Preferably, according to the present invention, this method comprises that also measuring a given movable body gives the time that fixing turn spent around what described track was finished.Timing is by reader or electromagnetic reader by means of the reader, particularly light that become one with described orbit-shaped, detect the label that is associated with described movable body pass through to realize.
System
The present invention also relates to one and be used for movable body, particularly lilliput car on a continuous track, the system that leads driving by actuator.Movable body allows movable body to change the points in track by the operator through a pilot circuit that includes a plurality of tracks and at least one and leads, described pilot circuit is public for various movable bodies around same orbital motion, described operator selects a motion strategy for movable body in advance or in real time, and described system comprises:
Be used for determining device according to the parameter of the definite described movable body parameter of selected motion strategy;
Will with the described control command of selected motion policy-related (noun), particularly with the speed of described movable body and the relevant control instruction in guiding track to be used, be sent to the transmitting device of described movable body;
Described movable body comprises the selecting arrangement according to the employed guiding of motion policy selection track, and when described movable body during around described orbital motion, described selecting arrangement is carried out, and described movable body comprises the transmitting device that is used to transmit signal;
Described pilot circuit and/or track comprise and are used to respond to by the signal of described movable body transmission and according to receiving the device that described signal activates described rail replacer.
Therefore, in described embodiment, movable body can be one automatically and not need described operator interfere around the automatics of described orbital motion, movable body also can be programmed to explain the control instruction of being sent by the operator so that produce motion corresponding to operator's expectation.
Movable body comprises the selecting arrangement according to the employed guiding of motion policy selection track.When movable body is carried out this selecting arrangement during around described orbital motion.
Preferably, according to the present invention, the motion strategy of system is characterised in that at least one in the following specific initiation parameter:
The type of movable body;
The mode of travelling;
The type of available resources and/or quantity, such as under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration etc.
The feature of motion strategy also is at least one in the following specific parameter of travelling:
One speed parameter;
One track change parameter.
Preferably, according to the present invention, the parameter of described system determines that device also comprises a control module that data and/or macros input is arranged at the memory block in the movable body.The memory block is associated with the microcontroller of control actuator.
Preferably, according to the present invention, each movable body is by an identifier, and particularly the identifier of alpha-numerical establishment identifies.This system also has a base, and it comprises:
Activate to obtain the control stick of control instruction by the operator;
By control instruction is associated with the identifier of movable body, control instruction is formatted as the data processing equipment of digital data form;
Being used for will be specific to the control instruction and the required electric power multiplex multiplex machine on pilot circuit of actuation movement body of each movable body.
The microcontroller of each movable body can extract the control instruction relevant with identifier of distributing to movable body from the multichannel control instruction.Microcontroller is controlled described actuator according to the control instruction that is extracted.
Preferably, according to the present invention, this multiplex machine of system carries out the time-division multiplex transmission to electric energy and control instruction.
Preferably, according to the present invention, the time-division multiplex transmission is performed such: after each is used to transmit the stage of the control instruction relevant with given movable body, then arranged a power supply stage.
Preferably, according to the embodiments of the invention variant, described system also comprises: be used for a power supply of actuator, it is made of the circuit that is associated with described pilot circuit in movable body and/or battery and/or rechargeable battery.Each movable body is by an identifier, the identifier of an alpha-numerical establishment particularly, and identified out.Under the situation of this embodiment variant, this system also comprises a pedestal, and it comprises:
Activate to obtain the control stick of control instruction by the operator;
Data processing equipment is used for by control instruction is associated with the identifier of movable body control instruction being formatted as digital data form;
Transmitting device is used for signal, and particularly optical signal such as infrared and/or a voice signal and/or an electromagnetic signal, sends movable body to;
Each microcontroller of each movable body can extract the control instruction that is associated with the identifier of distributing to movable body from signal.Microcontroller is controlled actuator according to the control command that is extracted.
Preferably, according to the present invention, described pilot circuit is the form in a plurality of guiding track.Each movable body includes a director element that cooperates with described guiding track.The guiding track is connected to each other by points.Movable body comprises and being used for signal that particularly optical signal such as infrared and/or a voice signal and/or an electromagnetic signal, sends the transmitting device of a transition receiver to.The transition receiver that is associated with given points is arranged on described pilot circuit and/or the track.The transition receiver comprises and is used for targeting signal is decoded and produced a decoding device that is used for the control signal of points.Described points comprises a mobile member that is activated by described transition control signal.This mobile member can have two positions at least.
In conjunction with the result according to technical characterictic of the present invention be: during around described orbital motion, movable body can be selected suitable guiding track according to the motion strategy at movable body.
Preferably, according to the present invention, the transition receiver is arranged on a pilot circuit and/or the track, and be positioned at the points front and certain distance is arranged with it, except first activated the movable body of described points, the change of points state can not make the motion of any movable body change like this.
Preferably, according to the present invention, this system also is included in the movable body that activates described points and crosses the return mechanism that automatically described points is switched to a predetermined state afterwards.
Preferably, according to the present invention, described predetermined state is an original state.
Preferably, according to the present invention, system also includes a label reader that becomes one with described orbit-shaped, and particularly optical reader and/or electromagnetic reader are used to detect the label that is associated with predetermined movable body.Label reader and described orbit-shaped become one.Described system also comprises the calculation element that is associated with described label reader, and it is used for definite number of turns of being finished around described track by each movable body.
Preferably, according to the present invention, system also includes a label reader that becomes one with described orbit-shaped, particularly optical reader and/or electromagnetic reader, and it is used to detect the label that is associated with predetermined movable body.Described system also comprises the time set that is associated with described label reader, and it is used to measure a given movable body and finishes the time that spends to fixing turn around described track.
Description of drawings
By reading description and the accompanying drawing to exemplary and nonrestrictive preferred embodiment, other characteristics of the present invention and advantage will be clearer, in the accompanying drawing:
Fig. 1 is a system schematic of the present invention;
Fig. 2 a and Fig. 2 b are exemplary points example of the present invention;
Fig. 3 a and Fig. 3 b wherein make movable electric energy of vehicle and rate signal and steering signal flow through same loop, for example the vehicle guidance loop for the present invention being applied to the embodiment of a system.
Fig. 4 is the control circuit of system of the present invention;
Fig. 5 is the circuit that is arranged in the vehicle;
Fig. 6 a and Fig. 6 b show the variant of the spendable points of the present invention;
Fig. 7 a and Fig. 7 b show the variant of the points that can automatically return to the centre position.
The specific embodiment
Fig. 1 is a system schematic of the present invention.This system comprises the loop, and the movable body of for example one or more vehicle V1, V2, V3 and so on moves on this loop.In known manner the loop is powered.For example in Fig. 1, vehicle V1, V2, the required electric energy of V3 motion provide through a transformer T1 and pilot circuit.According to the present invention, vehicle V1, V2, V3 are simultaneously by order of pilot circuit inbound pacing and track order.A circuit that is arranged between transformer and the pilot circuit is provided, can transmits rate signal and the targeting signal of vehicle V1, V2, V3 by pilot circuit.Each vehicle V1, V2, V3 can receive the signal or the signal bag that include speed and guiding control signal.Therefore the control of each vehicle V1, V2, V3 all is independent of other vehicle V1, V2 that travels, V3 on the loop control is carried out.
Shown in Fig. 2 a and Fig. 2 b, each vehicle V1, V2, V3 have a signal projector E1.In addition, pilot circuit C1 have one with each points A1, A2, signal receiver D1 that A3 is relevant, and before this signal receiver is positioned at each points along the travel direction of vehicle.When vehicle received a guiding order, it just had this order that is sent to transmitter E1.As the transmitter E1 of vehicle during near receiver D1, receiver D1 just receives this signal, and this signal is decoded, and triggers the operation of points A1.Therefore, in Fig. 2 b, receiver D1 has controlled the switching of points A1, thereby vehicle is directed on the C3 track in loop.
According to the variant that embodiments of the invention are simplified, points such as A1 all on the loop have a centre position, and after points conversion and vehicle warp, points is got back to the centre position like this.In this case, system can design like this: the general motion of vehicle is for when points is positioned at the centre position, and vehicle travels by described loop.As long as it does not receive guiding order, the transmitter of vehicle just can not send any signal, and detector for example D1 remain and do not activate.When the operator wants to make Ackermann steer angle, for example as turning right among Fig. 2 a, it sends an order that changes direction, transmitter E1 just sends a control signal, and detector D1 detects the operation (conversion) that it also triggers points A1: its move to the position shown in Fig. 2 b and vehicle by after get back to the position of Fig. 2 a automatically.
In these cases, according to this variant of embodiment, receiver does not have the function of decoding.The relative position of transmitter and receiver
Transmitter such as E1 can be placed on below the vehicle.In this case, receiver such as D1 will be placed on the loop in the vehicle traveling lane, such as between wheelpath.
Transmitter such as E1 also can be placed on vehicle side wall or the front portion and towards the rail flanges orientation.Receiver is placed on the certain altitude place of track side then, thereby it is positioned on the axis of the maximum wave beam that vehicle transmitter sends.
In any case, transmitter E1 preferably is placed on the front portion of vehicle, so that just trigger points as early as possible when vehicle arrives described points.
The relative position of receiver and points
Place along the track and apart from the certain distance of points A1 such as the receiver of D1, thus when vehicle is in the maximal rate that system allows, can be after detector D1 detects turn signal, make Vehicular turn by the points A1 that is positioned at after this detector D1 immediately.
This to general description of the present invention in, signal from an active station to vehicle transmits to send by means of radio frequency, ultrasonic wave or light by the pilot circuit of vehicle and carries out.
Usually, also the vehicle power supply that allows vehicle to move can be arranged in the vehicle itself, for example battery.
With reference to Fig. 3, we will describe the use of the present invention a system, and the vehicle power supply and the speed that wherein allow vehicle to move are all passed through identical loop with navigation information, and for example the pilot circuit of vehicle transmits.
Fig. 3 a shows the control chart that electric energy and signal transmit, wherein at central control system during vehicle transmits targeting signal and rate signal, the power supply of vehicle supplies with that periodically the short time interrupts.In Fig. 3 a, suppose to have 3 vehicles.During first time power interruptions, transmit signal and give vehicle V1 (data V1).During second time power interruptions, transmit signal and give vehicle V2 (data V2).During power interruptions for the third time, transmit signal and give vehicle V3 (data V3).And then once begin to circulate.For example, be used for approximately to be 5 milliseconds to the time ts of a vehicle (such as data V1) transmission data.The time that power supply is supplied with can approximately be 20 milliseconds.For the concrete instance of 8 cars, its cycle period will reach 200 milliseconds.
Fig. 3 b shows an embodiment variant, and wherein, at same vehicle electric energy intercourse, data V1, V2, V3 in circulation send together.
Fig. 3 c shows an embodiment variant, and wherein, rate signal and targeting signal are superimposed upon on the source current.
Fig. 4 shows the embodiment of a control station, and this control station provides power supply and can control vehicle by this control station to the guiding loop.Pilot circuit comprises electric conductor under these circumstances.
This control station includes a transformer TR, and this transformer is supplied alternating current and the low-tension supply supply is provided by main power source usually.
Processing unit UT1 comprises the circuit W1 and the circuit that is used to transmit targeting signal that are used for the transfer rate signal.These circuit are by a kind of control stick J1, J2, J3 control of known type.Control stick J1 can control vehicle V1, and control stick J2 can control vehicle V2, and control stick J3 can control vehicle V3.Centralized control unit UC1 can be periodically and alternately loop C1 is connected to transformer TR and processing unit UT1.In addition, processing unit UT1 control is by control stick J1, J2, the rate signal of J3 transmission and the continuous transmission of targeting signal.The identifier ID ENT that described processing unit UT1 has also added a representative control stick and controlled vehicle subsequently in each signal in these signals.Sending signal continuously carries out to a kind of process among the 3c according to being similar to Fig. 3 a.
Fig. 5 shows vehicle V1.The unit ALIM of this vehicle is by an arrangements of electric connection, and for example brush is connected to pilot circuit.Therefore during transformer TR is connected to pilot circuit C1,, and be other circuit supply of engine M and vehicle to unit ALIM power supply.
Processing unit UT2 also is connected on the pilot circuit C1 by described brush.Therefore, this processing unit UT2 receive together the rate signal that sends by each control stick and targeting signal and with an identifier of this signal correction.Vehicle processing unit V1 discerns corresponding to control stick J1 and the identifier of himself, and obtains the relevant signal of identifier therewith.
Processing unit UT2 handles this signal according to the feature (for example driving parameters such as type, type of vehicle, speed, tire character and gasoline configuration) that is assigned to this vehicle, and the rate signal that will handle and targeting signal send then.Control module UC2 provides following signal:
Send to the targeting signal on the transfer circuit G, be used to start transmitter E1 and send targeting signal;
Send to the rate signal on the transfer circuit W2, be used to control the rotating speed of engine M.
A receiver D1 is arranged on an end of pilot circuit along described pilot circuit.When a vehicle process, when receiver D1 received a targeting signal, it switched the position of points A1, particularly uses an electromagnet.
In the scheme of a simplification, each points has only two positions, shown in Fig. 2 a.In this case, targeting signal is a simple switching signal, thereby all receiver D1 need detect the switching that this signal triggers points A1.
In a more complicated scheme, a points can have more than two positions, and points can switch to track C1 more than on other tracks of two.
For example, Fig. 6 a and 6b show a track C1 and can be connected to selected track C2, C3 and C4.In this case, include a direction identifier in the targeting signal that transmitter E1 sends, and must make an explanation to the direction identifier by receiver D1.
In this case, transmitter E1 includes a plurality of light sources such as diode.The combination of light emitting diode can be expressed control instruction.Such two diodes just can be controlled four road pointses, and three diodes just can be controlled eight road pointses.Control module UC2 activates according to the targeting signal that receives and lights the corresponding diode of signal therewith then.
Each receiver such as D1 all has the as many detection diode of the emitting diode that has with each vehicle.Receiver D1 controls the position of points based on the diode that detects signal.
It should be noted: the transmitter on the vehicle must be located according to the position of detector, and vice versa, thus as vehicle through out-of-date, the different diode of transmitter E1 is in same row's diode front of receiver D1 process.
In said system, do not suppose targeting signal detected that points just is not activated, and remains on the centre position, for example shown in Fig. 2 a.
Fig. 7 a and 7b show one can make points get back to the device in centre position after the vehicle warp.
In Fig. 7 a, points A1 is positioned at the centre position, and roadway segment C1 is connected with roadway segment C2.
The switching of points A1 has the effect that connects roadway segment C1 and roadway segment C2.The tip of points A1 has a part of B1 to roadway segment C3 inside bend.
When triggering the described points of vehicle process of this points, vehicle promotes described part B1 and forces points to get back to the centre position.
It should be noted: according to the type of points, the switching of points can be finished by means of protuberance (kee1) Q who is arranged in below the vehicle and extends down into the gripper shoe that includes guidance system.In this case, the B1 part does not hinder wheel of vehicle to pass through.
Preferably, sleeve pipe is set is located at front portion below the vehicle, in case vehicle is returned on the centre position through just triggering points immediately like this.
In addition, an identification label L is all arranged below each vehicle.This label can be readable by the sensor CL light that is provided with along described pilot circuit, electronically readable or electromagnetism are readable.This sensor links to each other with processing unit UT1, so this processing unit UT1 can calculate the various performances that vehicle reaches, as speed, distance travelled or the like.
In the above description, we are described as a kind of Vehicular system by operator's guiding with application of the present invention.But the present invention also is applicable to the system of the automotive vehicle that includes pre-programmed.
Claims (47)
1. one kind is used for the movable body (V1 to being driven by actuator (M) on continuous track, V2, V3) method that leads, described movable body includes the pilot circuit in a plurality of tracks (C1 to C4) by the operator by one and the points (A1) at least one permission movable body (V1 to V3) change track leads, described pilot circuit is public for the various movable bodies along orbital motion continuously, said method comprising the steps of:
Described operator is that described movable body is selected a motion strategy in advance or in real time;
Described operator determines the parameter of described movable body according to selected motion strategy, and/or;
Described operator will be sent to movable body with the tactful control instruction corresponding of selected motion, particularly relevant with guiding track to be used with the speed of described movable body control instruction; And
Described movable body sends the signal that allows to select employed guiding track according to described motion strategy along described continuous orbital motion the time;
Activate described points (A1) according to the signal that sends by described movable body that receives.
2. the method for claim 1, the motion strategy in this method is characterised in that at least one in the following parameter:
Specific initiation parameter:
The type of movable body;
The mode of travelling;
The type of available resources and/or quantity, under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration,
The specific parameter of travelling:
One speed parameter;
One route change parameter.
3. as one of them described methods of claim 1 and 2, in order to determine the parameter of vehicle according to selected motion strategy, this method comprises that also the operator is arranged at data and/or macros input the step of the memory block in the movable body, (UT2 W2) is correlated with the microcontroller of controlling this actuator in the memory block.
4. the method for claim 1, in order to be sent to described movable body with the tactful control instruction corresponding of selected motion, described method is further comprising the steps of:
By distribute each in the described movable body of identifier initialization for movable body;
By control instruction is associated with the identifier of described movable body, described control instruction is formatted as digital data form;
To and drive the required electric power of this movable body specific to the control instruction of each described movable body and on described pilot circuit, carry out multiplexing;
Each microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to described movable body from multiplex control instruction;
Described method also comprises the step of described microcontroller according to the control instruction control actuator that is extracted.
5. method as claimed in claim 4, described identifier are the identifiers of alpha-numerical establishment.
6. method as claimed in claim 4, the described multiple transmission method in this method are the time-division multiplex transmission.
7. method as claimed in claim 6 has a power supply stage after each is used to transmit stage of the control instruction relevant with given movable body.
8. the method for claim 1, described method also comprises the step of the described actuator of described movable body being powered by the circuit relevant with described pilot circuit that is arranged in described movable body and/or battery and/or rechargeable battery, in order to transmit to described movable body and the corresponding control command of selected motion strategy, described method is further comprising the steps of:
By distribute each in the described movable body of identifier initialization for each movable body;
By the identifier of described control instruction and described movable body is got in touch, described control instruction is formatted as digital data form;
Send a signal for described movable body;
The microcontroller of each movable body extracts the control instruction relevant with the identifier of distributing to described movable body from described signal,
Described method comprises that also described microcontroller controls the step of described actuator according to the control instruction that extracts from described signal.
9. method as claimed in claim 8, described identifier are the identifiers of an alpha-numerical establishment.
10. method as claimed in claim 8, described signal are optical signal and/or a voice signal and/or an electromagnetic signal.
11. method as claimed in claim 8, described signal is an infrared signal.
1 2. as each described method in the claim 1,2 and 4 to 11, when described movable body during along described orbital motion, in order to select the track of leading according to described motion strategy, said method comprising the steps of:
One given movable body transmits a targeting signal that (G E1) gives the receiver (D1) be arranged on pilot circuit and/or the track;
Described receiver is decoded to described targeting signal, is used to control relevant with described receiver and is arranged on points (A1, the signal of state B1) on the described pilot circuit to produce one;
Described points is according to described control signal switching state;
Thereby during along described orbital motion, described movable body activates and allows it to change the points in track at movable body;
Thereby the movable body along described orbital motion can be turned by side direction and be surpassed another movable body in its front.
13. method as claimed in claim 12, described signal are optical signals.
14. method as claimed in claim 12, described signal is an infrared signal.
15. method as claimed in claim 12, described receiver is arranged on this pilot circuit and/or this track, and be positioned at the points front and certain distance is arranged with it, activate the movable body of described points like this except first, the change of points state can not make the motion of any movable body change.
16. method as claimed in claim 12, described method also are included in after the movable body that has activated described points crosses, described points automatically switches to a predetermined state.
17. method as claimed in claim 16, described predetermined state is an original state.
18. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, described method also comprises by by means of detecting the label (L) relevant with given movable body with the optical reader or the electromagnetic reader (CL) of described track one, thereby determines the number of turns that each movable body turns over around described track.
19. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, described method comprises that also measuring a given movable body finishes the time that spends to fixing turn around described track, described timing by by means of with the optical reader of described track one or electromagnetic reader detect the label relevant with described movable body pass through realize.
20. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, wherein the signal that is sent by described movable body is an optical signal.
21. as each described method in the claim 1,2 and 4 to 11 and 13 to 17, wherein the signal that is sent by described movable body is encoded.
22., send signal when wherein said movable body approaches points as each described method in the claim 1,2 and 4 to 11 and 13 to 17.
23. one is used for the movable body (V1 to being driven by actuator (M) on continuous track, V2, V3) system that leads, described movable body allows movable body (V1 to V3) to change the points (A1) in track by the operator through a pilot circuit that includes a plurality of tracks (C1 to C4) and at least one and leads, described pilot circuit is public for various movable bodies around same orbital motion, described operator selects a motion strategy for movable body in advance or in real time, and described system comprises:
Be used for according to selected motion strategy determine the parameter of described movable body parameter determine device (UT1, UT2);
Will with the described control command of selected motion policy-related (noun), particularly with the speed of described movable body and the relevant control instruction in guiding track to be used, be sent to described movable body transmitting device (UC1, W1, UT1, C1, C2, C3, C4, UT2);
Described movable body comprises selecting arrangement (E1, G, the UC2 according to the employed guiding of motion policy selection track, UT2), when described movable body during around described orbital motion, described selecting arrangement is carried out, and described movable body comprises the transmitting device (E1) that is used to transmit signal
Described pilot circuit and/or track comprise and are used to respond to by the signal of described movable body transmission and according to receiving the device that described signal activates described rail replacer (A1).
24. system as claimed in claim 23, the motion strategy of described system is characterised in that one of following parameter:
Specific initial parameter:
The type of movable body;
The mode of travelling;
The type of available resources and/or quantity, under the situation of lilliput car, this comprises the character of tire and initial gasoline configuration;
The specific parameter of travelling:
One speed parameter;
One track change parameter.
25. as claim 23 or 24 described systems, the parameter of described system determines that device comprises that also one is arranged at the control module of the memory block in the movable body with the input of data and/or macros, and described memory block is relevant with the microcontroller (UT2) of controlling actuator.
26. from 23 described systems, each movable body is identified by an identifier as claim,
Described system also comprises a pedestal, and it comprises:
By the operator activate with the control stick that obtains control instruction (J1, J2, J3);
(UT1 W1), is used for by control instruction being associated with the identifier of movable body and control instruction being formatted as digital data form data processing equipment;
Multiplex machine (UC1), be used for described specific to described each movable body control instruction and drive the required power supply of described movable body (TR, T1) multiplexing on described pilot circuit;
Each microcontroller of each movable body can extract the control instruction relevant with the identifier of distributing to movable body from the multichannel control instruction,
Described microcontroller is controlled actuator according to the control command that is extracted.
27. system as claimed in claim 26, described identifier is the identifier of an alpha-numerical establishment.
28. system as claimed in claim 26, described multiplex machine is carried out time-division multiplexing to described control instruction and electric energy.
29. system as claimed in claim 28, described time-division multiplex transmission is meant that after each stage of transmitting the control instruction relevant with given movable body a power supply stage is arranged.
30. as claim from 23 described systems, described system also comprises: a power supply (ALIM) that is used for actuator, it is made up of circuit relevant with described pilot circuit in movable body and/or battery and/or rechargeable battery, each movable body is identified out by an identifier
Described system also comprises a pedestal, and it comprises:
By the operator activate with the control stick that obtains control instruction (J1, J2, J3);
(UT1 W1), is used for by control instruction being associated with the identifier of movable body and control instruction being formatted as digital data form data processing equipment;
Transmitting device is used for sending signal to movable body;
Each microcontroller of each movable body can extract the control instruction that is associated with the identifier of distributing to movable body from described signal, microcontroller is controlled actuator according to the control command that is extracted.
31. system as claimed in claim 30, described identifier is the identifier of an alpha-numerical establishment.
32. system as claimed in claim 30, described signal is optical signal and/or a voice signal and/or an electromagnetic signal.
33. system as claimed in claim 30, described signal is an infrared signal.
34. as claim 23, each described system in 24 and 26 to 33, described pilot circuit is the form in a plurality of guiding track, each movable body includes a director element that cooperates with described guiding track, described guiding track is by points (A1, B1) be connected to each other, described movable body comprises transmitting device (E1), this transmitting device is used for a targeting signal, optical signal particularly, send a transition receiver (D1) relevant to such as infrared signal with given points, this given transition receiver is arranged on described pilot circuit and/or the track, described transition receiver comprises and is used for targeting signal is decoded and produced a decoding device that is used for the points control signal, described points comprises a mobile member (B1) that is activated by the described control signal that is used for points, this mobile member has two positions at least
Thereby during around described orbital motion, described movable body can be selected suitable guiding track according to the motion strategy at movable body.
35. system as claimed in claim 34, described transition receiver is arranged on a pilot circuit and/or the track, and be positioned at the points front and certain distance is arranged with it, except first activated the movable body of described points, the locational change of the mobile member of described points can not make the motion of any movable body change like this.
36. as each the described system in the claim 34, described system also comprises a return mechanism (Q), is used for automatically described points being automatically switched to a predetermined state after the movable body that activates described points crosses.
37. system as claimed in claim 36, described predetermined state is an original state.
38. as claim each described system from 23,24 and 26 to 33, described system also comprises:
A label optical reader and/or an electromagnetic reader (CL) that becomes one with described orbit-shaped, it is used to detect the label (L) relevant with given movable body;
With the calculation element that described label reader is associated, it is used for the number of turns that definite each movable body is finished around described track.
39. as each described system in the claim 23,24 and 26 to 33, described system also comprises:
A label optical reader and/or an electromagnetic reader (CL) that becomes one with described orbit-shaped, it is used to detect the label (L) relevant with given movable body;
With the time set that described label reader is associated, it is used to measure a given movable body and finishes the time that spends to fixing turn around described track.
40. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits optical signal.
41. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits encoded signals.
42. as each described system in the claim 23,24 and 26 to 33, wherein said transmitting device (E1) transmits signal when approaching converter.
43. a vehicle that is used for as claim 23,24 and 26 to 33 each described systems comprises:
The director element that cooperates with the guiding track;
Propulsion plant (M) is used for described vehicle is advanced around continuous track;
Parameter is determined device (UT2), be used for receiving send by processing unit (UT1) with motion policy-related (noun) control instruction;
Selecting arrangement comprises the transmitting device (E1) that is used for to being arranged on points receiver (D1) the transmission signal on described pilot circuit and/or the track;
Control device (UC2) is used for according to determine described selecting arrangement of motion policy control and the described propulsion plant (M) that device (UT2) receives from described parameter;
Supply unit is used for determining device (UT2) and described control device (UC2) supplying energy to described propulsion plant (M), described parameter at least.
44. vehicle as claimed in claim 43, wherein said parameter determine that device comprises a control module with data and/or macros input storage.
45. as claim 43 or 44 described vehicles, wherein said supply unit comprises:
Battery in described movable body and/or rechargeable battery; And/or
Arrangements of electric connection towards described pilot circuit and/or track.
46. as claim 43 or 44 described vehicles, wherein said transmitting device (E1) transmits optical signal.
47. vehicle as claimed in claim 46, wherein signal is encoded.
48. as each described vehicle in the claim 43 to 47, also comprise by with label reader (CL) optical readable and/or the readable label (L) of electromagnetism of pilot circuit and/or track one.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0216095A FR2848872B1 (en) | 2002-12-18 | 2002-12-18 | METHOD FOR CONTROLLING MOBILE OBJECTS, IN PARTICULAR MINIATURE CARS, IMPLEMENTING A MULTI-CHANNEL GUIDE PROCESS AND SYSTEM USING SUCH A METHOD |
| FR0216095 | 2002-12-18 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1726068A CN1726068A (en) | 2006-01-25 |
| CN100446830C true CN100446830C (en) | 2008-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2003801065357A Expired - Fee Related CN100446830C (en) | 2002-12-18 | 2003-12-17 | Method for piloting mobile objects, in particular miniature cars, using a multipath guiding process and system using same |
Country Status (11)
| Country | Link |
|---|---|
| US (1) | US20060073760A1 (en) |
| EP (1) | EP1575688A2 (en) |
| JP (1) | JP2006510427A (en) |
| KR (1) | KR20050121661A (en) |
| CN (1) | CN100446830C (en) |
| AU (1) | AU2003302186A1 (en) |
| BR (1) | BR0317561A (en) |
| CA (1) | CA2510447A1 (en) |
| DE (1) | DE20315048U1 (en) |
| FR (1) | FR2848872B1 (en) |
| WO (1) | WO2004056438A2 (en) |
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| WO2006084965A1 (en) * | 2005-02-08 | 2006-08-17 | Wany Sa | Method and system for controlling the speed of models on a track |
| DE102006023131B4 (en) * | 2006-05-17 | 2017-02-02 | Stadlbauer Marketing und Vertrieb GmbH | Method for switching points in a digital control system for track-guided toy vehicles |
| DE102006023133B3 (en) * | 2006-05-17 | 2007-08-30 | Haass, Uwe | Digital control system operating method for e.g. track-guided toy vehicle, involves detecting status data in digital decoders of digital control system by operating units of all control devices of digital control system |
| ES2324387B1 (en) * | 2009-01-23 | 2010-07-07 | Bycmo Rc Models, S.L | MANAGEMENT AND MOVEMENT CONTROL SYSTEM OF A SLOT VEHICLE. |
| US9155961B2 (en) | 2009-05-28 | 2015-10-13 | Anki, Inc. | Mobile agents for manipulating, moving, and/or reorienting components |
| US8882560B2 (en) | 2009-05-28 | 2014-11-11 | Anki, Inc. | Integration of a robotic system with one or more mobile computing devices |
| US10188958B2 (en) | 2009-05-28 | 2019-01-29 | Anki, Inc. | Automated detection of surface layout |
| EP2435149B1 (en) | 2009-05-28 | 2015-07-08 | Anki, Inc. | Distributed system of autonomously controlled toy vehicles |
| GB2482119B (en) | 2010-07-19 | 2013-01-23 | China Ind Ltd | Racing vehicle game |
| US8608527B2 (en) * | 2010-08-27 | 2013-12-17 | Mattel, Inc. | Wall mounted toy track set |
| US8393100B1 (en) * | 2011-12-06 | 2013-03-12 | John T. Hrehoriak | Holiday display |
| DE102013101800A1 (en) * | 2012-02-24 | 2013-10-10 | Mattel, Inc. | Toy with identification skill, has control unit that is provided with processor for processing computer instructions for identification of toy vehicle based on specific signal received from light sensors |
| US9437124B1 (en) * | 2014-10-31 | 2016-09-06 | John T. Hrehoriak | Flying decoration |
| CN104436690B (en) * | 2014-11-21 | 2016-07-27 | 梁穗 | Movement adjusting device for model |
| US9996369B2 (en) | 2015-01-05 | 2018-06-12 | Anki, Inc. | Adaptive data analytics service |
| CN106390470A (en) * | 2015-08-03 | 2017-02-15 | 骅威科技股份有限公司 | Infrared induction track music-composing trolley |
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- 2003-12-17 KR KR1020057011473A patent/KR20050121661A/en not_active Application Discontinuation
- 2003-12-17 WO PCT/FR2003/050184 patent/WO2004056438A2/en active Application Filing
- 2003-12-17 JP JP2004561583A patent/JP2006510427A/en active Pending
- 2003-12-17 EP EP03809996A patent/EP1575688A2/en not_active Withdrawn
- 2003-12-17 AU AU2003302186A patent/AU2003302186A1/en not_active Abandoned
- 2003-12-17 BR BRPI0317561-8A patent/BR0317561A/en not_active IP Right Cessation
- 2003-12-17 CA CA002510447A patent/CA2510447A1/en not_active Abandoned
- 2003-12-17 CN CNB2003801065357A patent/CN100446830C/en not_active Expired - Fee Related
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2004056438A2 (en) | 2004-07-08 |
| BR0317561A (en) | 2006-06-13 |
| CN1726068A (en) | 2006-01-25 |
| EP1575688A2 (en) | 2005-09-21 |
| JP2006510427A (en) | 2006-03-30 |
| DE20315048U1 (en) | 2003-12-04 |
| AU2003302186A1 (en) | 2004-07-14 |
| KR20050121661A (en) | 2005-12-27 |
| WO2004056438A3 (en) | 2004-08-12 |
| FR2848872A1 (en) | 2004-06-25 |
| US20060073760A1 (en) | 2006-04-06 |
| CA2510447A1 (en) | 2004-07-08 |
| FR2848872B1 (en) | 2005-05-27 |
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