ES2487795T3 - Autonomous vehicle system - Google Patents

Abstract

A toy vehicle (100; 400; 700; 1200; 1300) comprising: a battery (120; 420), a plurality of wheels (110; 410; 710; 810; 1010; 1100), in which at least one Wheel (110; 410; 710; 810; 1010; 1110) is adapted to contact and roll on a surface, a vibration mechanism connected to the battery (120; 420), and one or more drive legs (140; 440; 640; 740; 1205; 1210; 1310), in which the vibration caused by the vibration mechanism causes the one or more drive legs (140; 440; 640; 740; 1205; 1210; 1310) to move the vehicle ( 100; 400; 700; 1200; 1300) across the surface; characterized in that a proportion of leg length with respect to leg diameter of at least one drive leg (140; 440; 640; 740; 1205; 1210; 1310) is in the range of 2.0 to 20.0.

Description

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DESCRIPTION

Autonomous vehicle system

5 Background

This descriptive memory refers to devices that move based on oscillatory motion and / or vibration, autonomous devices that can be partially controlled using magnetic fields, and tracks for devices.

An example of a vibration-driven movement is a vibratory electric football game. A vibrating horizontal metal surface causes inanimate plastic figures to move randomly or slightly directionally. More recent examples of vibration-driven movement use internal feeding forces and a vibration mechanism located in a vehicle.

15 One method of creating motion-induced vibrations is to use rotation motors that rotate an axis attached to a counterweight. The rotation of the counterweight causes a rocking motion. The power supplies include springs that turn manually operated or DC electric motors. The most recent trend is to use pager engines designed to vibrate a pager or cell phone in silent mode. Vibrobots (small automatons that move by vibrating rods) and bristlebots (small automatons that move by vibrating bristles) are two modern examples of vehicles that use vibration to cause movement. For example, small robotic devices, such as vibrobots and bristlebots, can use motors with counterweights to create vibrations. The robot's legs are usually metal wires or rigid plastic bristles. The vibration makes the whole robot vibrate up and down and also

25 turn. These robotic devices tend to drift and rotate because no directional control has been achieved. The prior art document FR 2040653 describes such a bristlebot. Vibrobots tend to use long metal wire legs. The shape and size of these vehicles vary widely and typically range from low devices of 2 inches [51 mm] to high devices of 10 inches [254 mm]. Rubber feet are often added to the legs to avoid damaging table surfaces and to alter the coefficient of friction. Typically, vibrobots have 3 or 4 legs, although there are designs with 10-20. The vibration of the body and legs creates a pattern of movement that is mostly random in direction and rotation. Collisions with walls do not result in a new direction and the result is that the wall only limits movement in that direction. The appearance of realistic movement is very low, due to the highly random movement. Bristlebots are sometimes described in the literature as tiny directional vibrobots. Bristlebots use hundreds

35 short nylon bristles as legs. The most common source of the bristles, and the body of the vehicle, is to use the entire head of a toothbrush. A pager engine and a battery complete the typical design. The movement can be random and without direction depending on the engine and the orientation of the body and direction of the sow. Designs that use bristles angled to the rear with a rotation motor attached can achieve a general forward direction with varying amounts of turns and drifting sideways. Collisions with objects such as walls cause the vehicle to stop, then turn left or right and continue in a general direction forward. The realistic life appearance is minimal due to a sliding movement and a zombie-like reaction when hitting a wall.

Summary

45 In general, an innovative aspect of the subject described in this specification can be performed on devices (for example, a toy vehicle) that includes a motor, a battery, a switch adapted to connect the battery to the motor, a plurality of wheels adapted to contact and roll on a surface, a vibration mechanism connected to the motor, and at least one drive leg. The vibration caused by the vibration mechanism causes the at least one drive leg to move the vehicle across the surface, in which a proportion of leg length with respect to leg diameter of at least one drive leg is in the range of 2.0 to 20.0.

These and other embodiments may each optionally include one or more of the following features. The

One or more drive legs are curved towards a rear end of the vehicle. The vehicle includes a single drive leg. The only drive leg is centered laterally and / or located towards a front end of the vehicle. The one or more drive legs are made of a rubber or other elastomer material. The motor is a rotation motor and the vibration mechanism includes an eccentric load adapted to be rotated by the rotation motor. The rotation motor includes a housing and the eccentric load includes a counterweight arranged inside the housing. The rotation motor housing includes two flat and round sides connected by a cylindrical portion. The engine includes an axis of rotation perpendicular to a direction in which the vehicle is adapted to move and parallel to a surface that supports the vehicle. The engine is adapted to rotate clockwise as seen from the right side of the vehicle. The vehicle includes a chassis, with the engine, battery, switch, and at least one drive leg connected to the chassis. The chassis

65 includes holes to receive axles for the wheels. The chassis includes multiple holes adapted to support multiple distances between alternative axes. One or more of the holes to receive an axis are grooved to

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allow a corresponding axle to move vertically when the toy vehicle jumps. The switch includes a reed switch adapted to be operated by a magnet adjacent to the vehicle. The vehicle reproduces a production vehicle and has dimensions smaller than a 1:75 scale of the production vehicle. The vehicle has a length of less than 2 inches [51 mm] and a width of less than 1 inch [25 mm]. The

5 plurality of wheels includes front wheels and rear wheels, with the engine located longitudinally between the front wheels and the rear wheels. The engine is centered laterally on the vehicle. The engine is located as far ahead as the type vehicle maximizes energy transferred to the legs. The motor is skewed to the side to allow gear offset. The vehicle includes a rear axle adapted to be applied to the rear wheels and the battery is located longitudinally on the rear axle. The battery is located towards the rear of the vehicle in relation to the engine. The plurality of wheels includes a circumferential surface of rubber. The plurality of wheels is made of a plastic material.

In general, another aspect of the subject described in this specification can be performed on devices that include an engine adapted to cause movement of the vehicle, a battery, a reed switch adapted for

15 connect the battery to the engine or disconnect the battery from the engine based on a magnetic field in a vicinity of the vehicle, and a plurality of wheels.

In general, another aspect of the subject described in this specification can be performed in a system that includes at least one intersection component with a plurality of connectors adapted to interconnect the intersection component with at least one other track component. Each of the components includes at least one lane and the intersection components include a selectively movable magnet between at least a first location under a first lane and a second location that defines a retracted position or a second location under a second lane. A selectively movable magnet is included in a modular interactive device that can be selectively attached to a track component.

25 These and other embodiments may each optionally include one or more of the following features. The magnet is adapted to actuate a reed switch included in a toy vehicle when the toy vehicle moves in the first lane when the magnet is in the first location. The magnet is adapted to rotate about an axis perpendicular to a surface on which the toy vehicle moves. The magnet is indirectly coupled to a knob adapted to rotate the magnet between at least the first position and the second position. The intersection component includes retainers adapted to tend to hold the magnet in each of the first position and the second position. The intersection component includes an intersection of three paths. The intersection component includes a curved wall portion adapted to make the toy vehicle rotate. The intersection component includes a four-way intersection. At least one of the lanes of the

The intersection component includes a selectively rotating vertical diverter adjacent to a rail wall of the intersecting component, and the selectively rotating vertical diverter is adapted to selectively position at least between a first plane defined by a rail wall of the intersection component and a second plane located at an oblique angle to the foreground. Positioning the selectively rotating vertical derailleur at an oblique angle to the foreground is adapted to cause the toy vehicle to change direction. Positioning the selectively rotating vertical derailleur at an oblique angle to the foreground is adapted to make the toy vehicle turn towards a lane that has a different direction. The intersection component includes a set of one or more main rails and a set of one or more secondary rails and the first position of the magnet is below one in particular of the secondary rails. The magnet is coupled to a button to lower the magnet, with the second position located lower than the particular secondary rail than the first position. The system includes

In addition a plurality of straight track components and a plurality of curved track components, and each of the components is adapted to connect at least one of the other components. A vehicle includes a reed switch adapted to connect and disconnect a vehicle battery from a vehicle engine based on proximity to a magnet. The vehicle includes a motor, a battery, a switch adapted to connect the battery to the engine, a plurality of wheels adapted to contact and roll on a surface, a vibration mechanism connected to the engine, and at least one drive leg, where the Vibration caused by the vibration mechanism causes at least one drive leg to move the vehicle across the surface. At least a portion of the one or more track components includes a first surface feature adapted to contact the at least one drive leg when any number of the plurality of wheels are in contact with the surface and at least a portion of the one or more track components includes a second

55 surface feature adapted to avoid contact with the at least one drive leg when any number of the plurality of wheels is in contact with the surface. A two-lane curved track has a solid and elevated rail diverter to keep cars in the inner lane in their lane. A straight two-lane track includes a discontinuous lane diverter so that a car can be diverted to the opposite lane when car collisions occur in a single lane.

In general, another aspect of the subject described in this specification can be performed in methods that include causing vibration of a toy vehicle that has a vibration unit that causes the toy vehicle to move using one or more drive appendages that make contact with a first surface of a track and wheels that make contact with the track and at least one of: allow the toy vehicle to roll on all 65 wheels based on a second surface of the track adapted to avoid contact with the one or more drive appendages, or make the vehicle stop using a magnet connected to the track, where the magnet causes

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the operation of a reed switch that connects a battery to a vehicle engine.

In general, another aspect of the topic described in this specification can be performed on a vehicle or other device that includes a battery; a plurality of wheels, where at least one wheel is adapted to contact

5 and roll on a surface; a vibration mechanism connected to the battery; and at least one drive leg. The vibration caused by the vibration mechanism causes the at least one drive leg to move the vehicle across the surface.

These and other embodiments may each optionally include one or more of the following features. The vibration mechanism includes a motor and a counterweight adapted to be oscillated by the motor. The at least one drive leg is curved towards a rear end of the vehicle. The toy vehicle includes a single drive leg. The only drive leg is at least one centered laterally or located towards a front end of the vehicle. The vehicle includes a pair of drive legs. The pair of drive legs are located towards a front end of the vehicle and are laterally separated within a pair of front wheels 15. The at least one drive leg is made of rubber, elastomer or thermoplastic elastomer material. The vibration mechanism includes a rotation motor that has a housing and a counterweight arranged within the housing and adapted to be rotated by the rotation motor, with the rotation motor housing including two flat and round sides connected by a cylindrical portion. The vibration mechanism comprises a rotation motor and a counterweight adapted to be rotated by the rotation motor, with the counterweight adapted to be rotated about an axis perpendicular to a direction in which the vehicle adapts to move and parallel to a surface that supports the vehicle. A center of mass of the counterweight is substantially aligned with a longitudinal centerline of the vehicle. The counterweight is located near a front axle of the vehicle that supports a pair of front wheels. An axis of rotation of the counterweight is substantially aligned with a front axle of the vehicle that supports a pair of front wheels. The engine 25 includes an axis of rotation perpendicular to a direction in which the vehicle is adapted to move and parallel to a surface that supports the vehicle. The engine is adapted to rotate clockwise when viewed from the right side of the vehicle. The vehicle includes a chassis with the engine, battery, switch, and at least one drive leg connected to the chassis. The chassis includes holes to receive axles for the wheels. One or more of the holes to receive an axle is grooved to allow a corresponding axle to move vertically when the toy vehicle jumps. A front link is connected to the chassis where the link is attached to a pivot to allow the front wheels to move vertically when the toy vehicle jumps. The front wheels are rotatably coupled to a front axle supported by the front link, and the front link has a pivot parallel to the front axle and separated from the front axle. The front axle is applied to a notch adapted to limit the vertical movement of the front axle. A longitudinal misalignment 35 between a leg tip and a leg base of the at least one drive leg and a vertical misalignment between the tip of the leg and the leg base of the at least one drive leg form the minus an angle of twenty-five degrees from a vertical plane orthogonal to a longitudinal dimension of the vehicle. The longitudinal misalignment between the tip of the leg and the base of the leg of the at least one drive leg and the vertical misalignment between the tip of the leg and the pass of the leg of the at least one drive leg form an angle with respect to an orthogonal vertical plane at a longitudinal dimension of the vehicle of approximately forty degrees. A circumferential surface of at least one of the plurality of wheels narrows as it moves away from an outer edge of the wheel. A switch is adapted to be operated by a magnet adjacent to the vehicle. The vehicle reproduces a production vehicle and has dimensions of less than 1:75 scale of production vehicle. The vehicle has a length of less than 2 inches [51 mm] and a width of

45 less than 1 inch [25 mm]. The plurality of wheels includes front wheels and rear wheels, with the vibration mechanism located longitudinally between the front wheels and the rear wheels. The vehicle includes a rear axle adapted to be applied to the rear wheels and the battery is located longitudinally on the rear axle. The battery is located towards the rear of the vehicle with respect to the vibration mechanism. The battery is located longitudinally between the front wheels and the rear wheels.

In general, another aspect of the topic described in this specification can be performed on a vehicle or other device that includes a battery; a plurality of wheels, where at least one wheel is adapted to contact and roll on a surface; a vibration mechanism connected to the battery; and a plurality of bristles. The vibration caused by the vibration mechanism causes the plurality of bristles to move the vehicle through the

55 surface.

This and other embodiments may each optionally include one or more of the following features. The vibration mechanism includes a motor and a counterweight adapted to be oscillated by the motor. The vibration mechanism comprises a rotation motor that has a housing and a counterweight arranged within the housing and adapted to be rotated by the rotation motor, with the rotation motor housing including two flat and round sides connected by a cylindrical portion. The vibration mechanism comprises a rotation motor and a counterweight adapted to be rotated by the rotation motor, with the counterweight adapted to be rotated about an axis perpendicular to a direction in which the vehicle is adapted to move and parallel to a surface that supports the vehicle. A center of mass of the counterweight is substantially aligned 65 with the longitudinal centerline of the vehicle. The counterweight is located near a front axle of the vehicle that supports a pair of front wheels. An axis of rotation of the counterweight is substantially aligned with an axis

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front of the vehicle that supports a pair of front wheels. The vibration mechanism comprises a rotation motor that has a rotation axis perpendicular to a direction in which the vehicle is adapted to move and parallel to a surface that supports the vehicle. The engine is adapted to rotate clockwise when viewed from the right side of the vehicle. The vehicle includes a chassis, with the mechanism of vibration, battery, and switch connected to the chassis. The chassis includes holes to receive axles for the wheels. One

or more of the holes for receiving an axle is grooved to allow a corresponding axle to move vertically when the toy vehicle moves vertically. A front link is connected to a chassis, where the front link is attached to a pivot to allow the wheels coupled to the front link to move vertically when the toy vehicle moves vertically. The front wheels are rotatably coupled to a front axle supported by the front link, with the front link having a pivot parallel to the front axle and separated from the front axle. The front axle is applied to a notch adapted to allow vertical movement of the front axle. A circumferential surface of at least one of the plurality of wheels narrows as it moves away from an outer edge of the wheel. A switch adapted to be operated by a magnet adjacent to the vehicle.

In general, another aspect of the subject described in this specification can be carried out in a vehicle or other apparatus that includes an engine adapted to cause movement of the autonomous vehicle; A battery; a switch adapted to connect the battery to the engine or disconnect the battery from the engine based on a signal in a neighborhood of the vehicle; and a plurality of wheels.

These and other embodiments may each optionally include one or more of the following features. The switch comprises a reed switch and the signal comprises a magnetic field. The switch comprises an optical switch and the signal comprises an optical signal. The switch is adapted to receive a radio signal and the signal comprises a radio signal. The switch comprises a touch sensor and the signal

25 comprises a contact adapted to be applied to the touch sensor. A circumferential surface of at least one of the plurality of wheels narrows as it moves away from an outer edge of the wheel. The vehicle includes a chassis, with the engine, battery, and switch connected to the chassis and where the chassis includes holes to receive axles for the wheels, with one or more of the holes to receive an axle, grooved to allow a corresponding axle to be Move vertically when the toy vehicle jumps.

In general, another aspect of the subject described in this specification can be performed in a track system for a toy vehicle that includes at least one intersection component having a plurality of connectors adapted to interconnect the intersection components with at least one other. track component, where each component includes at least one lane and the intersection component includes a magnet

35 selectively movable between at least a first location adjacent to a first lane and a second location defining one of a retracted position or a second location adjacent to a second lane.

These and other embodiments may each optionally include one or more of the following features. The magnet is adapted to actuate a switch included in a toy vehicle when the vehicle moves in the first lane when the magnet is in the first location. The magnet is adapted to rotate around an axis perpendicular to a surface on which the toy vehicle moves.

In general, another aspect of the subject described in this specification can be performed in a track system for a toy vehicle that includes one or more straight track components having side walls and a

45 plurality of lanes defined by a raised dashed center line adapted to make vehicles traveling on one of the lanes tend to be within the lane.

These and other embodiments may each optionally include one or more of the following features. One or more curved rail components include side walls and a substantially continuous continuous continuous line adapted to make vehicles traveling on one of the lanes tend to be inside the lane while vehicles move through the curve, where each of the straight rail components include connectors adapted to interconnect the track component with at least one other track component. The discontinuous raised centerline and the substantially continuous raised centerline are defined by an upward slope located at least at one edge of the rail The discontinuous raised centerline and the raised centerline

Substantially continuous are defined by a vertical projection having substantially vertical sides at one edge of the rail.

In general, another aspect of the subject described in this specification can be performed in a track system for a toy vehicle that includes a fixation for a track component, where the track component includes one or more rails and is adapted to interconnect with one or more other rail components and the fixation includes a signal that generates a mechanism adapted to selectively generate a signal in a neighborhood of a track of the track component adjacent to the fixation and the signal is adapted to actuate a switch in a vehicle located in the lane, where the switch drive is adapted to cause the power of a battery in the vehicle to be eliminated from an engine in the vehicle.

65 These and other embodiments may each optionally include one or more of the following features. The signal that

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The mechanism generated includes a selectively movable magnet between at least a first location adjacent to a first lane and a second location defining a retracted position, with the magnet adapted to interact with a switch in the vehicle when the magnet is in the first location to make that the battery power be removed from the engine. The signal generated by the mechanism selectively generates an optical signal adapted to

5 interact with an optical sensor in the vehicle when the vehicle is in a first lane adjacent to the signal generated by the mechanism to cause the battery power to be removed from the engine. The signal generated by the mechanism selectively generates a radio signal adapted to interact with a radio sensor in the vehicle when the vehicle is in a first lane adjacent to the signal generated by the mechanism to generate battery power to be removed from the engine. .

In general, another aspect of the subject described in this specification can be performed in a track system for a toy vehicle that includes a fixation for a track component, where the track component includes one or more rails and is adapted to interconnect with one or more other track components and the fixation is adapted to selectively activate, depending on a switch position included in the fixation,

15 a manual switch on the vehicle when the vehicle is in a first lane adjacent to the fastener to cause the battery power to be removed from the engine.

In general, another aspect of the subject described in this specification can be performed on a track system for a toy vehicle that includes a track component that includes one or more lanes for autonomous vehicles and one or more parking spaces for vehicles. , where the track component is adapted to interconnect with one or more track components, and the track components include a magnet adjacent to each of the one or more parking spaces, with the magnet adapted to interact with a switch in the vehicle when the vehicle is in a corresponding parking space to generate power from the battery to be removed from the engine.

25 These and other embodiments may each optionally include one or more of the following features. Each of the one or more parking spaces further comprises at least one side wall and a lower profile cord separating the parking spaces of a lane from the track component.

The details of one or more embodiments of the subject described in this specification are set forth in the accompanying drawings and the following description. Other features, aspects, and advantages of the subject will be apparent from the description, drawings, and claims.

Brief description of the drawings

35 Figure 1 is a side view of an example wheeled vehicle device.

Figure 2A is a bottom view of the example of a wheeled vehicle device.

Figure 2B is a close-up side view of a chassis portion of the device representing a vertical notch that allows a front axle to move up and down when the device jumps.

Figures 3A and 3B represent two alternative rotation vibration motors that can be used to cause vibration of a wheeled vehicle device.

45 Figure 4 is a side view of an alternative wheeled vehicle device.

Figure 5 is a view from below of the wheeled vehicle device of Figure 4.

Figure 6 depicts a view from below of an example of a chassis assembly for a vibration-driven wheeled vehicle.

Figure 7 is a perspective view from below of a wheeled vehicle driven by vibration.

Figure 8 depicts an embodiment of a suspension bar assembly.

Figures 9A-9B represent a capped end of a suspension bar adapted to hold a wheel on an axle.

Figure 10 represents an alternative embodiment of a suspension bar assembly.

Figure 11 represents an embodiment of wheels.

Figure 12 depicts a side view of a vibration driven device.

65 Figure 13 depicts an alternative embodiment of a vibration driven device.

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Figure 14 is an example of a track system. Figure 15 depicts an example of an intersection component that includes stop characteristics.

5 Figure 16 represents an alternative stop component that makes it easier for vehicles to stop. Figures 17 and 18 represent an example of an intersection component with rotating vertical derailleurs that

They make vehicles spin selectively.

Figure 19 depicts an alternative vertical derailleur that can be manually moved back and forth between a straight configuration and a configuration that causes rotation. Figure 20 depicts a cross-sectional view of a track rail that includes a groove between the walls

15 sides.

Figure 21 depicts a cross-sectional view of a track rail that includes an elevated feature between the side walls. Figure 22 is a view from one end of a track section. Figure 23 is a view from one end of an alternative track section. Figure 24 is a perspective view of a straight track section.

25 Figure 25 is a perspective view of a curved track section. Figure 26 represents an example of a vehicle in a track section with a modular fixation.

Figure 27 represents a track section with a main track section and a stop signal fixation. Figure 28A is a perspective view of a track section with a main track section and a toll booth attachment.

Figure 28B is a perspective view of a track section with a main track section with markings of

lane control and toll booth fixing. Figure 28C is a perspective view of the track section of Figure 28B with hidden rail control marks.

Figure 29 is a front view of the track section shown in Figures 28A-C. Figure 30 is a perspective view of an intersection track section.

45 Figure 31 is a perspective view of an alternative intersection track section. Figure 32 is a perspective view of a parking track section. Figure 33 is a flow chart of a process for causing movement of a toy vehicle with a

vibration unit Similar denominations and reference numbers in the various drawings indicate similar elements.

Detailed description

55 Small autonomous devices, or vehicles powered by vibration, can be designed to move across a surface, for example, a floor, table, or other relatively soft and / or flat surface. A miniature device (for example, made to resemble a small-scale car) can be adapted to move autonomously and rotate in response to external forces (for example, being guided by a side wall of a track). In addition, when the device collides with an object (for example, a wall or other vehicle), the device can be constructed to deviate in a relatively random manner. In general, the devices include a chassis, multiple wheels, one or more drive legs or drive bristles, and a vibration mechanism (for example, a motor or mechanical spring rope mechanism that rotates an eccentric load, a motor or another mechanism adapted to cause oscillation of a counterweight or other arrangement of components

65 adapted to rapidly alter the center of mass of the device). As a result of the vibration caused by the vibration mechanism, the one or more drive legs can propel the miniature device in

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one direction forward when the drive leg (s) contact a support surface.

The movement of the miniature device may be caused by the movement of a rotation motor within, or attached to, the device, in combination with a rotation weight with a center of mass that is misaligned 5 with respect to the axis of rotation of the motor. The movement of rotation of the weight causes the motor and the device to which it is attached to vibrate. In some implementations, the rotation is approximately in the range of 6000-9000 revolutions per minute (rpm), although higher or lower rpm values can be used. Alternatively, the vibration mechanism may operate to cause vibration in a non-rotational manner. As an example, the device can use the many types of vibration mechanisms that exist in many pagers and cell phones that, when in vibration mode, make the pager or cell phone vibrate. The vibration produced by the vibration mechanism can cause the device to move (for example, by rolling on the wheels) through the surface (for example, the ground) using one or more legs or bristles (for example, groups of bristles ) that are configured to bend alternately (in a particular direction based on contact with the surface) and return to the original position when the vibration causes the device to move

15 up or down.

Various features can be incorporated into miniature devices. For example, various implementations of the devices may include features (e.g., leg or leg shape, number of legs, friction characteristics of the tips of the legs, the relative stiffness or flexibility of the legs, the strength of the legs, the relative situation of the counterweight of rotation with respect to the legs, etc.) to facilitate the efficient transfer of the vibrations to the forward movement. The speed and direction of movement of the device may depend on several factors, including the speed of rotation of the motor, the size of the misaligned weight attached to the motor, the power supply, the characteristics (e.g., size, orientation, shape, material, resistance, friction characteristics, etc.) of the one or more drive legs attached to the chassis of the

25 device, the properties of the surface on which the device operates, the total weight of the device, the natural oscillation frequency of the device or the drive legs, and so on. The components of the device can be placed to maintain a relatively low center of gravity (or center of mass) to discourage inflection (for example, based on the lateral distance between the tips of the legs).

Figure 1 is a side view of an example of a wheeled vehicle device 100. Figure 2A is a bottom view of the example of a wheeled vehicle device 100. The device 100 includes a chassis 105 and multiple wheels 110, including a pair of front wheels 110a and a pair of rear wheels 110b. The chassis 105 supports or includes a housing for a rotation vibration motor 115 (in this example, a coin or pancake vibration motor with an internal eccentric weight or load, although other types of vibration mechanisms are possible) and a battery power supply 120. The wires 125 connect the battery 120 to the motor 115 through a switch mechanism 130 that includes an internal slide switch 135 to manually turn the device 100 on and off. The switch mechanism, in some implementations as will be described below, may include a reed switch to disconnect (or connect) the battery 120 from the motor 115 in the presence of a sufficient magnetic field in the vicinity of the device 100 to operate the switch reed (even when slide switch 135 is in the connected position). Other types of switch mechanisms can also be used, such as an optical sensor (for example, a photodetector) that can be operated in the presence of a selectively generated optical signal (for example, an actively generated light or even a bright color or markings on a surface in the presence of ambient light) a radio signal that can be operated in the presence of a selectively generated radio signal, or a touch sensor that can be operated in the presence of a selectively mobile contact. Attached to chassis 105 is a drive leg

140. In this example, a single drive leg 140 is shown toward the longitudinal front end of the device 100. The drive leg 140 is also located at or near the middle of the lateral dimension of the device 100. In some embodiments, more than one drive leg 140 can be used, and the one or more drive legs can be placed anywhere along the longitudinal dimension (for example, near the middle or rear end of the device 100) and can be laterally separate (for example, near the side edges of the device 100). Each pair of wheels 110a and 110b is rotatably connected to the chassis 105 by a corresponding axle 145a, 145b, although in some embodiments, each wheel 110 may have a corresponding independent axle 145. The device 100 is thus supported on a surface 150 by the wheels 110 that are adapted to rest on a support surface 150. In addition, the leg of

Drive 140 is also adapted to contact the support surface 150. In general, the drive leg 140 is attached to the chassis 105 farther to the front of the device than the tip of the leg that contacts the support surface 150 and is sufficiently long and rigid enough to support at least some of the weight of the device 100. At the same time, the drive leg 140 is flexible enough to bend when the rotation motor causes vibration of the device 100. In some implementations, the wheels 110a are generally maintained. at the edge of the support surface 150 by the drive leg 140. At least in this situation, the pair of front wheels 110a does not necessarily rotate on the corresponding axle 145 and can be fixed to the device 100 by a bar that mimics an axis or through some other connection.

In operation, when switch 130 is on, rotation motor 115 causes vibration by rotating

65 an internal eccentric load or counterweight in a plane that is perpendicular to the support surface 150 and aligned with the longitudinal dimension of the device 100. Thus, the axis of rotation of the eccentric load is

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perpendicular to the direction of movement and parallel to the support surface 150. This orientation can minimize or eliminate lateral forces that may be present in other orientations of the motor 115, which in turn can help the device 100 move in direction straight. In addition, centering the motor 115 laterally can minimize or eliminate the torque that can also facilitate movement in

5 straight direction. The rotation motor 115 can also be located in the longitudinal dimension between the front and rear axles 145a, 145b.

The vibration of the device 100 causes the actuator leg 140 to drive the device 100 in a forward direction. In particular, the rotation of the eccentric load causes forces up and down (ie, forces directed away from and towards the support surface 150). The downward force caused by the rotation of the eccentric load causes the operating leg 140 to be compressed and doubled, and a resistance of the leg together with the upward force caused by the rotation of the eccentric load causes the device 100 to jump . Repetitive compression, bending of the leg, and jumping make the device 100 move in the forward direction. In some cases, the jump is sufficient to cause the drive leg 140 to leave the support surface, while in other cases, the jump does not cause the drive leg 140 to leave the support surface but is sufficient to reduce friction. between the operating leg 140 and the support surface. Orienting the motor 115 so that the direction of radial rotation of the motor is that of the clockwise when looking at the right side of the device 100, a front component of the motor force also tends to push the car forward when the leg of drive 140 is outside the support surface 150, and a rear component of the motor force is minimized when the drive leg 140 is in contact with the support surface and acts as a brake against backward movement. In some implementations, however, it is possible that the motor 115 is oriented so that the radial rotation of the motor is clockwise when the left side of the device 100 is viewed. The battery 120 can also be located towards the rear of the device 100 (for example, above but near the rear axle 145b), which can facilitate the jump of the

25 front end reducing the rotation movement of inertia around the rear axle 145b. Alternatively, in some embodiments, the battery 120 can be positioned longitudinally between the front and rear axles 145a, 145b. In addition, the device 100 may include a vertical notch (as indicated in 155) that allows the front axle 145a (and thus the front wheels 110a) to move up and down when the device 100 jumps, which allows the front wheels 110a maintain contact with the support surface 150 for at least a large percentage of the time, thus facilitating a tendency to move in a straight direction and also reducing the movement of inertia rotation around the rear axle 145b when the front part of the device 100 jumps .

Figure 2B is a close-up side view of a portion 160 of the chassis 105 depicting a vertical notch 165 that allows the front axle 145a to move up and down when the device 100 jumps. As indicated in 170,

35 the shaft 145b is free to slide up and down the notch 165, while, while being restricted within the notch for movement from bow to stern.

Although not shown in Figures 1 and 2A, the device 100 may include a housing or cover (for example, to resemble a vehicle). Such housing can hide the drive components (for example, motor 115, battery 120, wires 125, and switch mechanism 130). In some embodiments, the housing may be removable (for example, using tabs that click on the chassis 105) and thus may allow interchangeable housings to be used. The device 110 may, for example, reproduce exactly one production vehicle and may have dimensions of less than 1:75 scale of the production vehicle (for example, as a result of the compact drive system). The device 100 may, for example, have a length of

45 less than 2 inches [51 mm] and a width of less than 1 inch [25 mm]. In some embodiments, the chassis 105 may include multiple front and / or rear axle holes at different bow and stern locations to allow the axes to move and support different wheelbase (for example, for different housings). Longer wheelbase can also increase the tendency to move in a straight direction.

The movement of the device may also be influenced by the geometry of the operating leg 140 (or legs). For example, a longitudinal misalignment between the tip of the leg (i.e., the end of the leg that touches the surface 150) and the base of the leg (i.e., the end of the leg that joins the device housing) of the drive leg (s) cause forward movement when the device vibrates. Including some curvature, at least in the drive legs, can also facilitate forward movement when the legs tend to bend, moving the device forward, when the vibration forces force the device down and jump back to a more configuration. Straight when the vibrations force the device upwards (for example, resulting in a complete or partial jump off the surface, so that the tips of the legs move forward above or slide forward across the surface 150) . The speed can also be increased by altering an angle of the drive leg (s) 140 with respect to the surface 150 so that the leg (s) 140 tend to cause fewer jumps and a large forward thrust. In particular, increasing the longitudinal misalignment between the tip of the leg and the base of the leg (without increasing the length of the leg) can increase the speed. For example, the longitudinal misalignment between the tip of the leg and the base of the leg may be approximately equal to a vertical misalignment between the tip of the leg and the base of the leg (ie, the legs form a backward angle approximately 90 degrees), although in a typical embodiment the legs form a backward angle of at least

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10 degrees (for example, 15 degrees) and generally of more than about 25 degrees (for example, about 40 degrees). Lower angles (that is, closer to the vertical will tend to make the device jump more, while larger angles tend to make the device move faster.

5 The ability of the drive leg (s) 140 to produce forward movement may result in part from the ability of the device to vibrate vertically in the resistance legs (for example, using a rubber material or other elastomer, using flexible plastic, or using bristles). The properties of the drive leg (s) 140, including the position of the base of the leg with respect to the tip of the leg, resistance of the leg (s) 140, amount of curvature, angle of the leg with respect to a support surface , and coefficient of friction (at least for the tip of the leg that contacts the support surface 150), can contribute to the tendency of the drive leg (s) 140 to generate forward movement and the speed at which the device 100 It tends to move. Using wheels 110 with a circumferential surface with a sufficient coefficient of friction (eg, rubber and other elastomer) can also reduce a tendency to drift laterally. In some cases, however, at least drifting sideways may be desirable (for example, to get away from obstacles and / or

15 rotating along a side wall or other guide that may be intended to cause the device 100 to rotate). Consequently, wheels 110 having a relatively low coefficient of friction (for example, wheels made from relatively hard plastic) can be used.

For example, the device can also be configured to facilitate the turn when the vibration produced by rotation of the eccentric load causes jumps. The jump can also cause a vertical acceleration (for example, away from the surface 110) and a forward acceleration (for example, generally towards the forward movement direction of the device 100). During each jump, the drive leg (s) 140 and the front wheels 110a can jump (with or without completely leaving the support surface 150) to allow the device 100 to rotate to one side or the other at least in response to a lateral force external (for example, from

25 a side wall). The tendency to facilitate rotation can be increased if the geometry and / or configuration of the legs is set to increase the amplitude of the jumps.

The geometry of the drive leg (s) 140 can contribute to the way in which the device 100 moves. Aspects of leg geometry include: locating the base of the leg in front of the tip of the leg, curvature of the legs, deflection properties of the legs, to name a few examples. Generally, depending on the position of the tip of the leg relative to the base of the leg, the device 100 may experience different behaviors, including the speed of the device 100. For example, if the tip of the leg is almost directly below the leg. base of the leg when the device 100 is located on a support surface 150, movement of the device 100 that is caused by the vibration may be limited or impeded. This is because

35 There is little or no slope of the line in the space that connects the tip of the leg and the base of the leg. In other words, there is no "bias" in leg 140 between the tip of the leg and the base of the leg. However, if the tip of the leg is located behind the base of the leg (for example, farther from the front end of the device 100), then the device 100 can move faster, since the slope or bias of the or The drive legs 140 is optimized, providing a leg geometry that is more conducive to movement.

The legs can be either straight or curved. The leg geometry can be defined and implemented based on relationships of various leg measurements, including length, diameter and radius of leg curvature. A proportion that can be used is the ratio of the radius of curvature of the leg 140 with respect to the length of the leg. Just the example, if the radius of curvature of the leg is 49.14 mm and the length of the leg is 10.276 mm, then the

45 ratio is 4.78. In another example, if the radius of curvature of the leg is 2.0 inches [51 mm] and the length of the leg is 0.4 inches [10 mm], then the ratio is 5.0. Other lengths and other radii of leg curvature 140 may be used, such as to produce a proportion of the radius of curvature with respect to the length of the leg that leads to an appropriate movement of the device 100. In general, the proportion of the radius of curvature with respect to the length of the leg may be in the range of 2.5 to 20.0. The radius of curvature may be approximately consistent from the base of the leg to the tip of the leg. However, this approximate consistent curvature may include some variation. For example, some taper angle on the leg (s) may be required during the manufacture of the device (for example, to allow the removal of a mold). Such a tapering angle may include slight variations in the total curvature that generally do not prevent the radius of curvature from being approximately consistent from the base of the leg to the tip of the leg.

Another proportion that can be used to characterize the device 100 is a ratio that relates leg length to leg diameter or thickness (for example, as measured in the center of the leg or as measured based on an average diameter of the leg along the length of the leg and / or around the circumference of the leg). For example, the length of the leg (s) 140 may be in the range of 0.2 inches [5 mm] to 0.8 inches [20 mm] (for example, 0.405 inches [10,287 mm]) and may be proportional ( for example, 5.25 times) to the thickness of the leg in the range of 0.03 inches [0.76 mm] to 0.15 inches [3.8 mm] (for example, 0.077 inches [1,956 mm]). In other words, the leg (s) 140 may have a thickness of approximately 15% to 25% of their length, although a thickness greater or lesser may be used (for example, in the range of 5% to 60% of leg length) Leg lengths and thicknesses may also depend on the total size of the device.

65 100. In general, at least one drive leg may have a leg length ratio to leg diameter in the range of 2.0 to 20.0 (ie, in the range of 5% to 50% leg length).

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As discussed above, the drive leg (s) 140 may be curved. Since the leg (s) are typically made of a flexible material, the curvature of the leg (s) 140 may contribute to the forward movement of the device 100. Curving the leg may accentuate the forward movement of the device 100

5 increasing the extent to which the leg is compressed with respect to a straight leg. This increased pressure can also increase vehicle jumps. The drive leg (s) may also have at least some degree of taper from the base of the leg to the tip of the leg.

The leg (s) 140 are generally made of rubber or other flexible but resistant material (for example,

10 polystyrene-butadiene-styrene with a durometer near 55, based on the Shore A scale, or in the 45-75 interval, based on the Shore A scale). Thus, the legs tend to deviate when a force is applied. Generally, the leg (s) 140 include sufficient stiffness and strength to facilitate consistent forward movement when the device vibrates. The selection of leg materials can have an effect on how the device moves

100. For example, the type of material used and its degree of resistance may affect the number of boats in the or

15 legs 140 caused by vibration. As a result, depending on the rigidity of the material (among other factors, including the positions of the tips of the legs relative to the bases of the legs), the speed of the device 100 may change. In general, the use of stiffer materials in the leg (s) 140 may result in more boats, while the more flexible materials can absorb some energy caused by the vibration, which may tend to decrease the speed of the device 100.

20 Figures 3A and 3B represent two alternative rotation vibration motors that can be used to cause vibration of a wheeled vehicle device. Figure 3A shows a rotation motor 305 adapted to rotate an external eccentric load 310 about a rotation axis 315 when power is applied to the motor 305. Figure 3B shows a rotation motor 320 (for example, as included in the device 100 of figure 1) which

25 rotates an internal eccentric load, contained within a motor housing 320, about an axis of rotation. In either case, the motor 305, 320 is coupled and rotates a counterweight, or eccentric load, which has a CG that is off-axis relative to the axis of rotation 315 of the motor 310, 320.

Figure 4 is a side view of an alternative wheeled vehicle device 400. Figure 5 is a view from

30 below the wheel vehicle device 400 of Figure 4. The alternative wheel vehicle device 400 includes two drive legs 440 located, in this example, behind the front wheels 410a. The device 400 further includes a battery 420 and a rotation motor 415 which are located longitudinally between the front wheels 410a and the rear wheels 410b. In addition, the device 400 includes an eccentric load 460 external to the motor 415 (for example, the motor 305 and external eccentric load 310 of Figure 3A), which can generate large

35 lateral forces that exist with the device 100 of Figure 1. Such lateral forces may tend to cause the device to move in less than a straight line and have a more erratic movement. Other alternative implementations are also possible. For example, the rotation motor may have a rotation axis that is perpendicular to the direction of movement of the device and / or the rotation motor and battery can be placed side by side.

A vibration-driven wheeled vehicle, such as device 100 or device 400, or a vehicle with another drive mechanism, can be used in connection with a track system. The track system can be modular and can include components that can be assembled (for example, connected using connectors) in virtually any configuration. The track system may include walls or other projections to guide the

45 vehicle along straight and curved roads. In addition, some projections or guide members can be selectively positioned to cause different behaviors (for example, turning or going straight). The track system may also include recessed magnets that can be used to operate a reed switch in vehicles to cause vehicles to stop. Such magnets can be selectively moved closer or further away from vehicles that are adjacent (for example, above or together) to the magnet to selectively actuate or disengage.

50 actuate such reed switches. The track system components may include one or more lanes.

Figure 6 depicts a perspective from below of an example of a chassis assembly 600 for a vibration-driven wheeled vehicle. Assembly 600 includes a chassis 605 that is adapted to support a rotation motor 615 and includes a battery housing 620 (for example, where the battery can be inserted and removed from an upper side). The rotation motor 615 can rotate a multi-toothed pinion 630 that is applied to a crown gear 635, which, in turns, rotates a counterweight 625. The counterweight 625 can, for example, be fully formed with the crown gear 635. Two drive legs 640 are attached to the chassis on each side of the counterweight 625. The chassis 605 also includes 645a and 645b axle holes for the front and rear axles, respectively. In the example of assembled chassis assembly 600, the counterweight 625 rotates in the same axis as the front axle hole 645a and thus can rotate in an axis that also supports the wheels, although the wheels may not be driven by the rotation of the Counterweight 625. In some embodiments, the center of mass of the eccentric part of the counterweight is substantially aligned with the center line of the vehicle to facilitate more straight tracking (ie, movement in a generally straight direction). In addition, the center of mass of the counterweight can also be substantially aligned with the center line of the vehicle to avoid

65 create a tendency to turn to one side or another.

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Figure 7 is a perspective view from below of a vibration driven wheel vehicle 700. The vehicle 700 may be constructed in the chassis assembly 600 shown in Figure 6 and includes front wheels 710a and rear wheels 710b, a cover of frame 750 and a switch 735 projecting through frame cover 750. A suspension bar 755 supports the front axle 745a and rotates around an axis

5 defined by a front portion of the suspension bar at 760, which allows the shaft 745a to move up and down in a groove 765. This movement up and down allows the front wheels 710a to maintain contact with a support surface when the 740 drive legs tend to make vehicle 700 jump up and down. A front portion 770 of the frame cover 750 limits the rotation of the suspension bar 755 at a lower end.

Figure 8 depicts an embodiment of a suspension bar assembly 800. Assembly 800 includes a suspension bar 805, a portion of which serves as an axle (as indicated in 815) for a pair of wheels 810.

15 Figures 9A-9B represent a capped end 900 of a suspension bar adapted to maintain a wheel (for example, wheels 810 of Figure 8) on the axle.

Figure 10 depicts an alternative embodiment of a suspension bar assembly 1000. Assembly 1000 includes a suspension bar 1005, a portion of which serves as an axle (as indicated in 1015) for a pair of wheels 1010. In This embodiment, however, the shaft portion 1015 of the suspension bar 1005 is applied to an inner portion of a shaft bearing 1020, which fits into a bearing bore of the wheels 1010.

Figure 11 depicts an embodiment of the wheels 1110. The wheels 110 include an inwardly directed taper (as indicated in 1115), which can reduce a tendency of the vibration-driven vehicle to jump to

25 through low obstacles.

Figure 12 depicts a side view of a vibration driven device 1200. The device 1200, as shown, shows two alternative configurations of the drive leg (s), including a more vertical drive leg 1210 and a more angled or inclined drive leg 1205. Using a more inclined drive leg 1205, the speed Forward movement can be optimized and the amount of jumps can be reduced. In addition, Figure 12 represents relative positions of the tips of the legs and the wheel path. In general, legs 1205 or 1210 should take a certain distance from the support surface (as indicated in 1215, for example 0.5 mm) under a higher position of the front wheels, and the total path (as indicated in 1220) between the highest position of the front wheels (as shown) and a lower position

35 of the front wheels (as indicated in 1225) should be sufficient for the wheels to maintain contact with a support surface even when the device 1200 jumps as a result of the vibration mechanism interacting with the drive legs 1205 or 1210. Generally, For a given material, when the legs get longer, they need to be less inclined to achieve maximum speed.

Figure 13 represents an alternative embodiment of a vibration driven device 1300. The device 1300 includes one or more longer drive legs 1310 that are connected to the chassis 1305 on an upper edge of the wheel. Such longer drive legs 1310 can help increase speed. On the other hand, placing the rotation motor 1315 above the front axle also facilitates the increase in speed relative to an engine that is located further back in the device.

Figure 14 is an example of a track system 1400. The track system 1400 may include multiple track components, including straight track components 1405, curved track components 1410, three lane intersection components 1415, and intersection components of four lanes 1420. Each track component may include one, two, or more lanes 1425, which may include side walls for at least some portions for directing vehicles 1430 that cross lanes 1425. Three-lane intersection components 1415 may include 1435 redirection features constructed on a side wall that causes vehicles 1430 to rotate (for example, to the left) when vehicles 1430 enter the intersection and reach the side wall by directing vehicles 1430 along a curved projection in the side wall (as indicated by arrow 1436). The intersection components 1415 and 1420 may include stop features 1440 that cause

55 vehicles selectively stop at the intersection. For example, stop characteristics 1440 may use magnets 1445 that can be rotated under rails or raised and lowered under rails to selectively operate reed switches in vehicles 1430. The position of magnets 1445 can be controlled using control knobs. or buttons 1450. The intersection components 1415 and 1420 may also include protrusions of vertical derailleurs 1455 that can be selectively rotated using control knobs or buttons 1460 to cause vehicles 1430 to turn or continue straight. In addition, the track system may include specialized components 1465 that can be used to divert vehicles 1430 into one or more secondary lanes (for example, a stop pit or type of service station area), which may also include stopping magnets. the vehicles 1430 until a button 1470 is pushed to release the vehicle 1430 from the magnetic field (ie, moving the magnets further below the secondary rails).

65 Figure 15 represents an example of intersection component 1500 that includes stop characteristics. The

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Stop characteristics can be implemented using a rotation wheel 1505 hidden under the intersection component 1500 that includes magnets 1510 fixed to the rotation wheel 1505. The rotation wheel 1505 can be rotated using a knob 1515 that indirectly rotates the rotation wheel 1505 (for example, using a gear mechanism) to selectively place magnets 1510 under certain rails (i.e., to make

5 vehicles on those lanes stop) or away from the lane (that is, to allow vehicles to pass freely). Thus, magnets 1510 can rotate about an axis perpendicular to a surface of track component 1500 in which the vehicle moves. Seals can be used to make the rotation wheel tend toward certain positions. In some implementations, the knob 1515 could allow a user to push the rotation wheel 1505 down and lock it sufficiently under the intersection component 1500 so that the magnets 1510 do not prevent vehicles in any direction.

Figure 16 depicts an alternative stop component 1600 that facilitates the detection of vehicles. The alternative stop component 1600 includes a knob 1605 to rotate a magnet 1610 connected to a knob 1605 by an arm 1615. Using the knob 1605, the magnet 1610 can be selectively placed under the rail (to stop

15 vehicles) or away from the lane (to allow vehicles to pass).

Figures 17 and 18 represent an example of an intersection component 1700 with vertical rotation derailleurs 1705 to make the vehicles rotate selectively. Vertical rotation diverters 1705 can be connected to a rotation wheel 1710 that can be rotated using a knob 1715 that is indirectly coupled to the rotation wheel using a gear mechanism 1720. By turning the knob 1715, vertical diverters 1705 can be move between a position that is substantially in the same plane as an adjacent rail wall 1725 and a plane that is oblique to the adjacent rail wall 1725. The seals can be used to make the vertical derailleurs 1705 have desired positions ( for example, to make it easier for vehicles to travel straight and to make a vehicle turn towards a lane having an address

25 different).

Figure 19 depicts an alternative vertical derailleur 1900 that can be manually moved back and forth between a straight configuration and a configuration that causes rotation. Again, the seals can be used to cause the 1900 vertical derailleur to tend toward one or more desired positions.

In some implementations, a track system may include slopes and descents. By including surface features on the track that at least substantially prevent one or more drive legs from contacting the surface, it is possible to allow a vibration-driven wheel device to roll freely (for example, downhill).

Figure 20 depicts a cross-sectional view of a track rail 2000 that includes a slot 2005 between the side walls 2010 to prevent a drive leg of a vibration driven wheel device (for example, the device 100 of the Figure 1) contact the surface of the track 2015. The slot 2005 can be used in a track section downhill, for example, to allow the device to roll freely. The 2005 slot can also be used in short segments to make vehicles decrease.

Alternatively, a flat surface can be used instead of a slot 2005 to allow the device to roll freely, if a shorter operating leg of the device is used. In such a case, portions of the track may include a raised feature that is applied to the drive leg to allow the leg of

45 drive propel the device.

Figure 21 depicts a cross-sectional view of a track rail 2100 that includes a raised feature 2105 between the side walls 2110 to be applied to a drive leg of a vibration driven wheel device (for example, the device 100 of the Figure 1) while the wheels roll on the surface of track 2115. Elevated feature 2105 can be used on sections of the track where vehicles can propel themselves using one or more drive legs.

Figure 22 is an end view of a track section 2200. The track section 2200 includes rails 2205 defined by side walls 2210 and a central boss 2215. The central boss 2215 can be used.

55 to manage the lane use of vehicles that cross the lane.

The central bulge 2215 may be high enough to tend to keep the vehicles in a particular lane but low enough to allow vehicles to cross into the other lane occasionally (for example, if the collision happens or if the vehicle approaches the bump center 2215 at a sufficient angle).

Figure 23 is an end view of an alternative track section 2300. Track section 2300 includes rails 2305 defined by side walls 2310 and a raised center line 2315. Thus, each rail 2305 is inclined from the raised center line 2315 towards the respective side wall 3210. The raised center line 2315 can be used to manage the use of the lane of vehicles crossing the lane. The raised center line 2315 can be the

65 high enough to tend to keep vehicles in a particular lane but low enough to allow vehicles to cross into the other lane in at least some situations.

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Figure 24 is a perspective view of a straight track section 2400. The track section includes a central bulge stripe pattern 2415 between rails 2405. The striped pattern tends to keep vehicles in their lanes in track sections It's straight but provides some ability to occasionally cross over to the other

5 lane On the other hand, the striped pattern serves the purpose of allowing vehicles to more easily complete lane changes (or return to the original lane) if the vehicles begin to cross the center line. In particular, the wheels on one side and / or the rear wheels of the vehicle can slide through the gaps in the striped pattern to allow the vehicle to complete a lane change.

Figure 25 is a perspective view of a curved track section 2500. The curved track section 2500 includes a solid central boss 2515 between the rails 2505. The solid central boss 2515 provides better rail management, particularly in the inner lane of the turn to prevent vehicles from crossing to the other lane. In some embodiments, a substantially continuous central protuberance 2515 may be used, for example, to facilitate allowing vehicles that have partially crossed the center line to complete the crossing or move from

15 return to the original lane.

Figure 26 is an example of vehicle 2605 in a track section 2600. Track section 2600 includes a main track section 2610 and a modular fastener 2615 that engages in a groove (as indicated in 2620) in the section of main track 2610. The modular fixture may include a magnet 2625 adjacent to a side wall 2630 of the main track section 2610. The magnet 2625 can create a magnetic field that interacts with a reed switch 2635 in the vehicle 2605 and causes and makes that the power to a drive mechanism (for example, the rotation motor 115 of Figure 1) is cut off, which in turn can cause the vehicle 2605 to stop. The 2625 magnet can be rotated or moved (for example, by a lever or manual switch

or automated) away from the position shown in Figure 26 (for example, above or to one side) so that the

The magnetic field no longer interacts with the reed switch, which can cause power to be reapplied to the drive mechanism, which in turn can cause vehicle 2605 to start moving again.

In an alternative embodiment, instead of using magnets and a reed switch, switch 2635 may include a photodetector that detects marks on a surface of track section 2600 or that is otherwise sensitive to light properties in a neighborhood of the vehicle 2605. Marks may include, for example, multi-width lines, so that when the photodetector detects a line that the car is moving, switch 2635 can remove power from the engine. Thus, such marks can be used to cause vehicle 2605 to stop. In addition, relatively narrow lines can be used to make vehicle 2905 decrease

35 alternatively turning off the engine when vehicle 2605 moves on a narrow line and allows the engine to start as the pulse carries vehicle 2605 past the narrow line. Broader lines can be used to make the 2605 vehicle stop completely. Broader lines can gradually be used to make the vehicle stop gradually. Other types of brands can be used apart from lines. The lines or marks may have a different color than other surfaces of the track or may have a different reflectivity (for example, if the photodetector is sensitive enough to detect the difference between reflected light when the 2605 vehicle passes over the marks) The photodetector also You can be sensitive to either ambient light conditions or you can rely on active light features included in the 2600 track section.

Different patterns of marks on a track surface can also be used to cause different actions

45 of vehicle 2605. For example, a processor included in vehicle 2605 may receive data from the photodetector when the photodetector senses the marks on a track surface, and the processor may be programmed to cause different response measures. For example, a sequence of equally spaced lines can cause vehicle 2605 to gradually decrease, a broad solid line can cause vehicle 2605 to stop, a sequence of lines grouped in pairs can cause vehicle 2605 to turn right, and A sequence of lines grouped in three can cause vehicle 2605 to turn left. Alternatively, different colors can be used to cause different actions. As another alternative, vehicle 2605 may include two or more laterally spaced photodetectors, and the action may depend on which photodetector detects marks on a surface. Spinning can be achieved using any appropriate technique, including techniques known in the art.

Figure 27 depicts a track section 2700 with a main track section 2710 and a stop signal fixation 2715. When the vehicle with a reed switch moves near the stop signal fixation 2715, a magnet 2725 can make it open in reed switch in the normally closed vehicle, thereby turning off the engine in the vehicle, causing the vehicle to stop. The magnet 2725 can be coupled to a stop signal base 2740. By rotating the stop signal 2740 down as indicated in 2745 or around an axis of the stop signal post as indicated in 2750, the magnet 2725 will be You can move in a way that allows the reed switch to close again, allowing the engine to start and the vehicle to start moving. Moving the stop signal 2740 back to the position shown in the figure can once again cause vehicles approaching the stop signal setting 2715 to stop again. How

Alternatively, the magnet 2725 can be placed below the track section 2710, and the rotation or movement of the stop signal 2740 can cause the magnet to slide or rotate away from the track section 2710. They can also be

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use other techniques to make vehicles stop selectively. For example, as discussed above, the vehicle may include a photodetector that detects patterns or marks on the surface of the track section 2700. The rotation or movement of the stop signal 2740 in a first direction or a first position may cause patterns or marks move to a position below, or otherwise revealed below,

5 of a track lane, while rotating or moving in a second direction or a second position can cause patterns or marks to move away from the lane or otherwise hidden.

Figure 28A is a perspective view of a track section 2800 with a main track section 2810 and a toll booth attachment. 2815. Figure 28B is a perspective view of a track section with a main track section having lane control marks 2850 and a toll booth attachment. Figure 28C is a perspective view of the track section of Figure 28B with the lane control marks hidden (as incised in 2855). Figure 29 is a front view of the runway section 2800. The toll booth attachment 2815 may include a rotating toll gate 2840, which can be attached to a magnet similar to the magnet 2727 of Figure 27. The toll gate 2840 can rotate back and forth (for example, by rotating the toll booth signal on the roof of the toll booth) between a closed position and shown in Figure 28A, in which the magnet causes a reed switch in vehicle 2805 the vehicle engine supply is opened and interrupted (or a model on the track causes a photodetector to interrupt the motor supply), and an open position as shown in Figure 29, in which it is allowed that Close the reed switch (or a model on the track to change and hide) and reapply power to the vehicle's engine. The toll booth fastener 2815 and the toll gate 2840 can thus function in a manner similar to the stop signal fixation 2715 and the stop signal 2740 of Figure 27. Fixations 2715 and 2815 (or other similar fixations that they include magnets) and other fasteners (for example, without magnets) can be designed to join straight track sections (for example, as shown in figure 24) or curved track sections (for example, as shown in figure 25) and can be selectively attached to any part along a general track assembly (e.g. track system

25 1400 of Figure 14).

As an alternative to using magnets to operate a reed switch, a mechanism can be used that changes the patterns that appear on the surface of the track as shown in Figures 28B-C. Figure 28B includes 2850 lane markings that can be detected by a vehicle in the lane (for example, using a photodetector at the bottom of the vehicle) to cut off the motor power when the 2850 marks are detected and reapply power to the engine in the absence. of the 2850 marks. Thus, when a vehicle passes over the intermittent portion of the 2850 marks, the engine is turned off and on alternately to stop the vehicle. Then, when the vehicle passes over the solid portion of the rail marks 2850, the vehicle can be stopped when the power is removed from the engine for a longer duration. 2850 lane markings can be configured so that they can be removed or hidden (as shown in 2855 in Figure 28C). By hiding lane markings, vehicles can selectively stand or cross track section 2800 without obstacles. For example, when toll gate 2840 is in the closed position (as shown in Figure 28B), lane markings 2850 can be exposed, which can cause a vehicle in the lane to stop. When toll gate 2840 is in the open position (as shown in Figure 28C), lane markings 2850 may be hidden (as indicated in 2855), which can cause a vehicle in the lane to continue along With little or no deceleration. The toll gate 2840 can thus control a mechanism to make the rail marks 2850 exposed and concealed based on the position of the toll gate 2840. In some embodiments, the main track section 2810 can be pre-constructed to include selectively lane markings that can be exposed 2850 so that if a toll booth attachment 2815 is connected to the lane, lane markings can be

45 expose and hide selectively. In other embodiments, the main track section 2810 and the toll booth attachment can be constructed as a single component. 2850 lane markings may include, for example, active lighting that changes the color of a lane area or a sliding surface that slides in and out of sight in response to the position of toll gate 2840. They can also be used other mechanisms to expose and hide lane marks 2850.

Figure 30 is a perspective view of an intersection track section 3000. The intersection track section 3000 includes notches 3005 that can be used to join modular fasteners (eg, fasteners 2715 or 2815) that can be used to control the traffic. For example, stop signal settings 2715 can be placed in four different positions around the intersection track section 3000 to allow the

55 user to make vehicles stop at the intersection selectively.

Figure 31 is a perspective view of an alternative intersection track section 3100. The alternative intersection track section 3100 includes a rotating disk 3110 under the track surface that includes magnets 3125, which can be selectively placed under rails. of the intersection to make the vehicles stop at the intersection. The rotation disk 3110 can be manually rotated using a lever 3120. The magnets 3125 can be positioned so that the vehicles stop on two opposite sides of the intersection while allowing cross traffic to move through the intersection without stopping , while rotating the disk 3110 can cause cross traffic to stop while allowing the two opposite sides to move through the intersection. In some embodiments, the magnets (if attached to a rotating disk, a stop signal fixation, a toll booth fixation or some other fixation) can be moved using an automated control system. Alternatively, rotation of rotation disk 3110 can cause the

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patterns alternately move below and away from, or alternatively revealed and hidden, one or more lanes of track section 3100.

Figure 32 is a perspective view of a parking runway section 3200. The magnets located

5 below parking spaces 3205 can turn off the engine of vehicles in parking spaces 3205 until the vehicle is either pushed into traffic lanes 3215 or the magnet is moved using an automated or manual control mechanism. A ridge 3210 can also help keep the passage of vehicles from turning and interfere with vehicles in parking spaces 3205.

10 Figure 33 is a flow chart of a process 3300 for causing movement of a toy vehicle that has a vibration impulse. The vibration of a toy vehicle is caused (in 3305) to make the toy vehicle move using one or more drive appendages that contact a first surface of a track and wheels that contact the track. The toy vehicle can roll on the wheels (in 3310) based on a second surface of the track adapted to avoid contact with the one or more appendages of

15 drive. The vehicle stops (at 3315) using a magnet connected to the track. The magnet, for example, triggers a reed switch that connects a battery to the vehicle's motor, which stops the vibration of the toy vehicle.

Claims (11)

E12151079 07-30-2014 1. A toy vehicle (100; 400; 700; 1200; 1300) comprising: 5 a battery (120; 420), a plurality of wheels (110; 410; 710; 810; 1010; 1100), in which at least one wheel (110; 410; 710; 810; 1010; 1110) is adapted to contact and roll on a surface, 10 a vibration mechanism connected to the battery (120; 420), and one or more drive legs (140; 440; 640; 740; 1205; 1210; 1310), in which the vibration caused by the vibration mechanism causes the one or more drive legs (140; 440; 640; 740 ; 1205; 1210; 1310) move the vehicle (100; 400; 700; 1200; 1300) across the surface; 15 characterized in that a proportion of leg length with respect to leg diameter of at least one drive leg (140; 440; 640; 740; 1205; 1210; 1310) is in the range of 2.0 to 20.0. 2. The toy vehicle of claim 1, wherein the vibration mechanism includes a motor (115; 305;  20 320; 415; 615; 1315) and a counterweight (310; 460; 625) adapted to be oscillated by the motor (115; 305; 320; 415; 615; 1315). 3. The toy vehicle of claim 1 or 2, wherein at least one drive leg (140; 440; 640; 740; 1205; 1210; 1310) is curved towards a rear end of the vehicle. 25 4. The toy vehicle of one of the preceding claims, further comprising a pair of drive legs (440; 640; 740) located toward a front end of the vehicle and laterally spaced within a pair of front wheels (410a; 710a ). The toy vehicle of one of the preceding claims, wherein at least one drive leg (140; 440; 640; 740; 1205; 1210; 1310) is made of a rubber, elastomer or thermoplastic elastomer material . 6. The toy vehicle of one of the preceding claims, wherein the vibration mechanism comprises 35 a rotation motor (115; 615; 1315) and a counterweight (625) adapted to be rotated by the rotation motor (115; 615; 1315), with the counterweight (625) adapted to be rotated about a perpendicular axis to a direction in which the vehicle is adapted to move and parallel to a surface that supports the vehicle. 7. The toy vehicle of claim 2 or claim 6, wherein a center of mass of the counterweight 40 (310; 460; 625) is substantially aligned with a longitudinal center line of the vehicle. 8. The toy vehicle of claim 6 or 7, wherein the counterweight (310; 460; 625) is located near a front axle of the vehicle that supports a pair of front wheels. The toy vehicle of claim 2, wherein the engine (115; 305; 320; 1315) includes an axis of rotation perpendicular to a direction in which the vehicle is adapted to move and parallel to a surface that it supports the vehicle, and the engine (115; 305; 320: 1315) is adapted to rotate clockwise when viewed from the right side of the vehicle. The toy vehicle of one of the preceding claims, wherein the vehicle includes a chassis (105; 605; 1305) with the vibration mechanism, battery, a switch (135; 735) and at least one leg of drive connected to the chassis, with the chassis including holes (645) to receive axles (145a, 145b; 745a; 815; 1015) for the wheels, and with one or more of the holes to receive a grooved shaft to allow a corresponding axle Move vertically when the toy vehicle jumps. 55 11. The toy vehicle of one of the preceding claims, wherein a longitudinal misalignment between a leg tip and a leg base of the at least one drive leg and a vertical misalignment between the tip of the leg and The base of the leg of at least one drive leg forms approximately an angle of forty degrees from a vertical plane orthogonal to a longitudinal dimension of the vehicle. 60 12. The toy vehicle of one of the preceding claims, wherein a circumferential surface of at least one of the plurality of wheels narrows as it moves away from an outer edge of the wheel. 13. The toy vehicle of one of the preceding claims, further comprising a switch adapted to be operated by a magnet adjacent to the vehicle. 17 E12151079 07-30-2014 14. The toy vehicle of one of the preceding claims, further comprising a photodetector adapted to be operated by a property of light in a neighborhood of the vehicle. 18