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WO2023203100A1 - Véhicule jouet ayant un capteur de vitesse de lacet - Google Patents

Véhicule jouet ayant un capteur de vitesse de lacet Download PDF

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Publication number
WO2023203100A1
WO2023203100A1 PCT/EP2023/060187 EP2023060187W WO2023203100A1 WO 2023203100 A1 WO2023203100 A1 WO 2023203100A1 EP 2023060187 W EP2023060187 W EP 2023060187W WO 2023203100 A1 WO2023203100 A1 WO 2023203100A1
Authority
WO
WIPO (PCT)
Prior art keywords
toy vehicle
sensor
steering
rotation rate
lane
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2023/060187
Other languages
German (de)
English (en)
Inventor
Martin Müller
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sturmkind GmbH
Original Assignee
Sturmkind GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sturmkind GmbH filed Critical Sturmkind GmbH
Priority to EP23721321.0A priority Critical patent/EP4511146A1/fr
Priority to JP2024562171A priority patent/JP2025513490A/ja
Priority to CN202380048042.XA priority patent/CN119403605A/zh
Publication of WO2023203100A1 publication Critical patent/WO2023203100A1/fr
Anticipated expiration legal-status Critical
Priority to US18/921,651 priority patent/US20250041749A1/en
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A63H17/30—Direction-indicators
    • 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
    • A63H17/21—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor shaped as motorcycles with or without figures
    • 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
    • A63H17/262—Chassis; Wheel mountings; Wheels; Axles; Suspensions; Fitting body portions to chassis
    • 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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
    • A63H30/02—Electrical arrangements
    • A63H30/04—Electrical arrangements using wireless transmission

Definitions

  • the invention relates to a toy vehicle according to the preamble of claim 1 and to a toy vehicle system with such a toy vehicle.
  • a technical task is to convert a steering signal into a steering movement of the steerable wheels responsible for vehicle steering.
  • Proportional steering is achieved by a steering unit of the toy vehicle in a conventional design in that a steering drive acts on the steerable wheels via a suitable mechanism, while the steering angle achieved is determined and reported back by a position measurement.
  • a so-called servo is often used here, which acts on the steering mechanism via a pivotally driven servo arm and a linkage connected to it.
  • a potentiometer in the servo which is used to determine and report back the angular position of the servo arm and thus indirectly the steering position of the wheels. This can cause a deflection of the servo arm that is proportional to the control signal and a steering movement of the wheels that is functionally dependent on it.
  • gyro in addition to the servo system with steering drive and position measurement.
  • gyro mechanical gyroscopes
  • yaw rate sensors are connected between the receiving unit that outputs the control signal and the servo in order to achieve a To bring about directional stabilization or even maintaining the specified direction of travel.
  • the invention is based on the object of simplifying a generic toy vehicle in such a way that uncomplicated, controllable steering is possible, especially in small sizes.
  • the invention is further based on the object of specifying a toy vehicle system in which the aforementioned toy vehicle can be moved along a predetermined lane.
  • the invention is based on the idea of completely foregoing a direct or indirect determination of the steering angle and not in addition to the steering angle determination, but instead of implementing the steering via a control loop with a yaw rate sensor.
  • a rotation rate sensor for determining the rotation rate of the toy vehicle about its vertical axis, a steering drive and a control unit together form a control loop for setting the stated rotation rate of the toy vehicle to a predetermined target value.
  • the size of the steering angle and its determination are irrelevant. Rather, the control process running in the control unit only has to act on the steering drive in such a way that the desired or predetermined rotation rate of the vehicle is achieved.
  • the current rotation rate is determined via the rotation rate sensor.
  • the control loop acts on the steering in such a way that the actually determined vehicle rotation rate is brought into line with the target value or is at least sufficiently close to it.
  • the starting process is an example.
  • the toy vehicle is parked on its road, although the current steering angle is irrelevant. This can initially be of any amount and, depending on the steering angle position that happens to be present, leads to more or less pronounced cornering when driving off.
  • the rate of rotation of the toy vehicle around its vertical axis associated with cornering occurs immediately after driving off and can also be detected immediately by the rotation rate sensor.
  • the control unit of the toy vehicle contains a receiver for control signals from a remote control, the control unit being designed to derive a setpoint for the rotation rate of the vehicle from the control signals received in the receiver. So when the receiver receives the control signal from the remote control for driving straight ahead or cornering, the control unit converts this control signal into a corresponding setpoint for the rotation rate.
  • the control circuit described above now regulates the actual rotation rate of the toy vehicle to the specified target value, so that the toy vehicle follows the control signals from the remote control.
  • control unit can contain at least one sensor for detecting a predetermined lane, in which case the control unit is designed to derive the setpoint for the rotation rate from the sensor signals determined by the sensor.
  • control unit is advantageously designed to derive the setpoint for the rotation rate from the sensor signals determined by the sensor in such a way that the toy vehicle follows the lane. In this way, for example, a practice operation can be implemented in which the vehicle initially automatically follows a predetermined lane. Additional control signals from a remote control can then be modulated onto this. The user is thus able to to change the route, find an ideal line or otherwise familiarize themselves with the controls without the vehicle running the risk of constantly going off track.
  • control unit may be designed to derive certain driving events, in particular braking, acceleration, and/or intervention in the rotation rate, from the sensor signals determined by the sensor.
  • certain driving events in particular braking, acceleration, and/or intervention in the rotation rate
  • this could, for example, be such that the detection of certain positions on the lane leads to certain control events. Reaching the edge of the road can, for example, lead to braking, simulation of an evasive steering movement or a steered skidding movement.
  • an IR (infrared) sensor with an IR transmitter and an IR receiver has proven to be useful.
  • the lane is provided with an IR-sensitive orientation pattern. Because infrared detection takes place outside of the light spectrum that the human eye can perceive, the technical function of lane detection can be decoupled and separated from the visual appearance of the lane.
  • the IR-sensitive orientation pattern is covered by an IR-permeable and visually opaque cover layer.
  • the IR-sensitive orientation pattern comprises a pattern of alternating light and dark triangular sections extending across the lane.
  • the sensor detects a sequence of light and dark areas, with the relative ratio of light and dark providing simple information about exactly where the vehicle is in the lateral direction on the road. A change in the relative ratio can also be used to derive a direction of movement relative to the longitudinal direction of the road.
  • the IR-sensitive orientation pattern comprises a pattern of alternating light and dark lines extending across the lane.
  • Such patterns can, for example, be attached to the front ends of a road segment.
  • the vehicle's sensor then uses a specific line pattern to recognize, for example, the type of road segment that follows, i.e. whether it is a straight line, a curve section or the like.
  • a line pattern can also mark a specific location that is linked to an event. It can therefore be a start/finish line or the like, which is recognized by the sensor in the manner described above, and whose crossing under certain circumstances then triggers predetermined events such as time measurement, stopping a race after reaching a certain number of laps or the like.
  • the toy vehicle is a replica of a car with at least two steerable wheels and with at least two non-steerable wheels.
  • the vehicle stands or drives in an inherently stable manner on its wheels, and its movement can be regulated with little technical effort in such a way that a realistic driving impression is created.
  • the toy vehicle is a replica of a motorcycle with a steerable wheel and a non-steerable wheel. This brings additional technical challenges regarding the assumption of a certain inclination when cornering, but also opens up additional possibilities in the design of ferry operations.
  • the toy vehicle designed as a replica of a motorcycle therefore preferably has a controlled support device for specifying an oblique angle of the vertical axis relative to a surface normal of the lane to be traveled.
  • the support device can be visually concealed well so that it is hardly noticed by the observer. It allows the vehicle inclination to be adjusted to simulate a scaled-down ferry operation with a realistic overall impression, although the centrifugal forces actually acting would require a different, usually smaller, inclination.
  • the pivot angle of such a support device can be adjusted, for example, using a servo in a known design with a potentiometer.
  • the control of the support device is carried out according to the same principle as with the steering drive described at the beginning:
  • the support device which is under the action of the swivel drive, is pivotally mounted on the chassis of the toy vehicle with a variable swivel angle.
  • the steering unit includes a rotation rate sensor for determining a rotation rate of the toy vehicle about its longitudinal axis and is free of a sensor for determining the pivot angle.
  • the swivel drive, the control unit and the rotation rate sensor form together a control loop for setting the rotation rate to a specified target value.
  • control of the rotation rate described here applies either to the steering (control of the rotation rate of the toy vehicle around its vertical axis) alone, to the vehicle lean angle (control of the rotation rate of the toy vehicle around its longitudinal axis) alone, or also to a Combination of these can be used.
  • FIG. 1 shows a perspective schematic representation of a toy vehicle according to the prior art with a steering drive, control unit and potentiometer for indirectly detecting the steering angle
  • FIG. 2 shows a perspective schematic representation of a first modification of the toy vehicle according to the invention as a replica of a car with a rotation rate sensor instead of the potentiometer
  • FIG. 3 shows a variant of the toy vehicle according to FIG. 2 with toothed segment steering instead of rack and pinion steering,
  • FIG. 4 shows a schematic representation of a toy vehicle system according to the invention with a toy vehicle according to FIGS. 2 or 3, with an IR-sensitive lane and with a smartphone as a remote control
  • Fig. 5 is a schematic side view of an alternative embodiment of the toy vehicle as a replica of a motorcycle with a support device for adjusting an oblique angle of the vehicle's vertical axis
  • Fig. 6 is a front view of the toy vehicle according to Fig. 5 when cornering and the inclined angle is set by means of the support device.
  • Fig. 1 shows a schematic perspective view of a toy vehicle 1' according to the prior art, the toy vehicle 1' being a replica of a car.
  • the body, drivetrain, rear suspension or the like are not shown here for a better overview.
  • the toy vehicle 1 ' has a longitudinal axis x fixed to the vehicle and a vertical axis z fixed to the vehicle.
  • the toy vehicle 1 ' moves in the direction of its longitudinal axis x and also carries out rotational movements about the vertical axis z with a rotation rate co z as a result of a steering movement.
  • the toy vehicle 1 ' has two front, steerable wheels 2 and two rear, driven, non-steerable wheels 3 located on a rigid axle.
  • the front wheels 2 are steerably mounted with steering knuckles on a chassis 16 of the toy vehicle 1 ', so that they can be adjusted to a desired steering angle a about steering axles 27 running in the vertical direction.
  • the choice of the steering angle a leads to a corresponding rotation rate co z around the vertical axis z, depending on the current speed, whereby the rotation rate co z is equal to zero when driving straight ahead and deviates from zero when cornering.
  • the toy vehicle 1 comprises a steering drive 4 which acts on the steered wheels 2 and which in turn is acted upon by a control unit 5.
  • the control unit 5 includes a receiver 7, which is only indicated schematically, for the control signals of a transmitter, not shown. These control signals are in the Control unit 5 implemented for controlled actuation of the steering drive 4.
  • the steering drive 4 includes an electric steering motor 20, which adjusts the steering angle a of the front wheels 2 via a steering gear 17.
  • the steering gear 17 includes a pinion 18, which engages in a rack 19 connected to the steering knuckles of the front wheels 2. A resulting lateral thrust movement of the rack 19 aligns the front wheels 2 at a desired steering angle a.
  • the prior art steering unit shown here is equipped with a sensor for determining the steering angle a.
  • the sensor mentioned is integrated into the steering gear 17 and, in its design shown here, is coupled to the steering movement of the wheels 2 as a potentiometer 15 via its own gear set.
  • the achieved steering angle a can be deduced from the initial value of the potentiometer 15, from the known reduction ratio of the steering gear 17 and from the generally known steering kinematics.
  • the steering angle a achieved is fed back to the control unit 5 in the form of the output value from the potentiometer 15, whereby a proportional control is formed.
  • Fig. 2 shows a perspective view of a toy vehicle 1 as a modification according to the invention of the toy vehicle 1 'according to Fig. 1. Unless expressly stated otherwise, the same features, properties and effects are present, with the same reference numerals being used for the same features.
  • the steering motor 20 by means of the steering gear 17 on the adjustment of the steering angle a of the front wheels 2 is as described above.
  • a potentiometer 15 (FIG. 1) or another sensor for determining the steering angle a and its feedback to the control unit 5 is missing.
  • the steering angle a that is actually present or set during operation is not known in the control unit 5 and is also not known according to the invention not required.
  • the steering unit of the toy vehicle 1 according to the invention comprises, instead of the steering angle sensor mentioned, a yaw rate sensor 6 for determining the currently existing yaw rate co z of the toy vehicle 1 about its vertical axis z.
  • the rotation rate sensor 6 is connected together with the steering drive 4 and the control unit 5 to form a control circuit, by means of which the rotation rate co z of the toy vehicle 1 is set to a predetermined target value. For this purpose, a comparison is made in the control unit 5 of the actual rotation rate co z determined by the rotation rate sensor 6 with the specified setpoint. The control deviation determined from this comparison is converted in the control unit 5 into a corresponding control of the steering drive 4, which leads to a reduction or elimination of the said control deviation by adjusting the steering angle a of the steerable wheels 2.
  • a P controller proportional controller
  • another controller can also be selected, for example a PID controller (proportional-integral-derivative controller) or an even more complex control system.
  • the steerable wheels 2 have a steering angle a of 0°, so that they are aligned essentially parallel to the longitudinal axis x.
  • the associated rotation rate co z is equal to 0. If the receiver 7 receives a control signal for straight-ahead travel from a remote control 8 shown in FIG. 4, the setpoint for the rotation rate co z is set to 0, which corresponds to the desired straight-ahead travel. As long as the toy vehicle actually drives straight ahead, there is no deviation from the control and the aforementioned control loop does not intervene. If, however, the vehicle's longitudinal axis means.
  • the alignment of the longitudinal axis x can deviate from the previous alignment, but this is usually sufficient to calm the vehicle.
  • the use of a PID control is advisable.
  • a controlled curve movement with a rotation rate cn z 0 as a setpoint can also be implemented in the same way.
  • a potentiometer 15 (FIG. 1) and the associated drive or another sensor for determining the steering angle a were completely dispensed with.
  • the actual size of the current steering angle a is meaningless for the functioning of the control loop according to the invention.
  • the yaw rate sensor 6 is an electronic component without mechanically moving parts with a minimal overall installation space. It is shown here schematically for easy visibility outside the control unit 5. In practice, however, it is integrated into the control unit 5 without taking up additional space.
  • the arrangement according to the invention shown has a small volume overall, is mechanically insensitive, inexpensive and simple, and is therefore particularly suitable for toy vehicles in micro format for operation, for example, in the living room or on a table top.
  • FIG. 3 shows a variant of the toy vehicle 1 according to FIG a common pinion 21 located in the middle with a vertical axis of rotation engages.
  • the exemplary embodiment according to FIG. 3 corresponds to those according to FIG. 2.
  • FIG. 3 shows the case of a steering deflection of the front wheels 2 with a steering angle a 0 when driving off.
  • the steering deflection leads to the toy vehicle 1 cornering, which in turn results in a corresponding rotation rate co z around the vertical axis z depending on the current speed.
  • the initial steering angle a is irrelevant.
  • FIGS. 4 shows a perspective overview of a toy vehicle system according to the invention, which includes a toy vehicle 1 according to FIGS. 2 or 3, a roadway with a lane 12 and a remote control 8.
  • the toy vehicle 1 is also provided with at least one sensor 9 for detecting the predetermined lane 12.
  • This sensor is an IR sensor with an IR transmitter 10 and an IR receiver 11.
  • a straight road segment of lane 12 is shown here as an example. However, it can also be a curve segment, a pit lane segment or the like, and any lanes can then be composed from such segments.
  • a one-piece lane 12 that is fully formed into a complete path can also be provided.
  • the lane 12 is provided with an IR-sensitive orientation pattern 13 corresponding to the IR sensor.
  • Various forms can be considered for the design of the orientation pattern 13.
  • it comprises a pattern of alternating (in the IR range) bright and dark triangles extending across the lane 12.
  • 12 triangle sections extend across the lane, while the tips of the triangles, which are meaningless for orientation purposes, have been omitted for simplicity.
  • it is a pattern of alternating light and dark triangular sections 23 or trapezoids that extend across the lane 12.
  • the IR-sensitive orientation pattern 13 includes a pattern of alternating (in the IR range) light and dark lines 24 extending across the lane 12. In the present case, such a pattern of light and dark lines 24 is located at each end of the road segment Applying a pattern of light and dark lines can also be useful elsewhere.
  • an IR beam emitted by the IR transmitter 10 hits the orientation pattern 13, is reflected there and finally received by the IR receiver 11.
  • the intensity of the received IR beam depends on whether the emitted IR beam hits a light or a dark section of the IR-sensitive orientation pattern 13.
  • the IR receiver 11 alternately receives a weak and a strong reflected signal.
  • the signal sequence of weak and strong signals changes with a change in the lateral positioning of the toy vehicle 1 relative to the lane 12.
  • a suitable evaluation algorithm can be used to determine how far the toy vehicle 1 is to the left or right of the lane 12.
  • the orientation of the vehicle's longitudinal axis x (FIGS. 2, 3) can be determined relative to the longitudinal direction of the lane 12.
  • certain information can be encoded in the pattern of light and dark lines 24, which is detected when driving over using the IR sensor and then decoded in the control unit 5, for example.
  • the pattern of light and dark lines 24 can encode which type of roadway segment it is (straight, tight curve, wide curve or the like). When entering such a road segment, the system uses the IR sensor to recognize the type of road segment that is now following, so that the further operational sequence can be prepared, for example by adjusting the speed.
  • other information can also be encoded in the pattern of light and dark lines 24, such as the presence of a start and finish line. This information is recorded and decoded in the same way so that corresponding events (time measurement, lap counting, etc.) can be triggered.
  • the sensor 9 mentioned is a functional part of the control unit 5 (FIGS. 2, 3), the control unit 5 being designed to derive the setpoint for the rotation rate coz from the control signals determined by the sensor 9.
  • the setpoint values for the rotation rate co z can be derived and determined in such a way that the toy vehicle 1 automatically follows the lane 12.
  • the control unit 5 can be designed to derive certain driving events, in particular braking, acceleration and/or intervention in the rotation rate co z , from the sensor signals determined by the sensor 9. For example, the vehicle can be braked when it reaches the edge of the lane and accelerated when it reaches the middle of the lane.
  • evasive or skidding movements can be simulated by changing the rotation rate co z .
  • the setpoint for the rotation rate coz is derived in the control unit as a function of both the determined sensor signals of the sensor 9 and the control signals generated by the remote control 8 and received by the receiver 7.
  • This enables, for example, a driving simulation in which the user can freely control the toy vehicle 1 along the lane 12, provided certain conditions are met.
  • the sensor 9 if the user steers the toy vehicle 1 too close to the edge or into a specially marked zone, then this is detected by the sensor 9.
  • predetermined driving events already mentioned above can be triggered, which intervene in the user's control signals.
  • This intervention can be a superimposition (changed steering or braking effect).
  • the control signals generated by the user are completely overridden, for example to force the toy vehicle to stop or move to the edge of the road.
  • a multiplayer mode with or without corresponding driving events is also possible
  • the driving behavior of the toy vehicle 1 can be adjusted to almost any level of difficulty and adapted to the user's ability. Between a completely autonomous operation, in which the toy vehicle 1 automatically follows the lane 12, and a freely controlled, electronically uninfluenced ferry operation, all hybrid forms of this can be set with different weightings.
  • the IR-sensitive orientation pattern 13 Since the essential property of the lane 12 lies in its orientation pattern 13, it can be manufactured inexpensively from simple materials such as cardboard or the like. Almost any path can be formed from standardized segments and closed into a ring.
  • the IR-sensitive orientation pattern 13 is covered by an IR-permeable, but visually opaque cover layer 14, which creates the visual appearance of an asphalt track Side and median strips, a gravel road or any other simulated road surface can be created.
  • the orientation pattern 13 underneath is thereby covered and remains invisible to the human eye, but is still accessible to the IR sensor 9.
  • the remote control 8 is a smartphone with an app installed on it, which generates the control signals for the toy vehicle 1.
  • the radio connection between the remote control 8 and the toy vehicle 1 is preferably carried out via Bluetooth.
  • a Wi-Fi connection or another form of radio connection can also be useful.
  • the app installed on the smartphone can be designed simply as a pure control app or complex with an elaborate driving simulation.
  • there is the possibility of a multiplayer mode via an internet connection In this case, several players, even spatially separated from one another, can build the same track from lane segments and drive on it simultaneously and against each other in competition mode, without a physical meeting having to take place. Collisions, overtaking maneuvers or the like can be simulated using the means described above.
  • the toy vehicle 1 can drive over the entire road once automatically or controlled by the user and can detect it using the IR sensor 9. In this way, the course of the laid out lane 12 can be recognized and fed into the simulation before the actual training or competition ride begins.
  • the yaw rate sensor 6 is shown here only as a single-axis yaw rate sensor for detecting the yaw rate co z about the vertical axis z.
  • the toy vehicle 1 as shown in FIGS. 5, 6 is a replica of a motorcycle with only one steerable wheel 2 and with only one non-steerable wheel 3. This with a variable steering angle a on the chassis of the toy vehicle 1
  • the wheel 2, which is steerably mounted around a steering axis 27, is under the action of the steering drive 4 in the same way as in the exemplary embodiment according to FIGS 6 includes.
  • the yaw rate sensor 6, like the control unit 5, is designed and able to detect not only the yaw rate co z about the vertical axis z but also the yaw rate co x about the longitudinal axis x (FIG. 6) and the yaw rate co y about the transverse axis y .
  • This is the now standardized design of commercially available rotation rate sensors 6, which is preferably used not only here when replicating a motorcycle, but also in practice when replicating a car according to FIGS. 1 to 4.
  • the yaw rate sensor inclined by the oblique angle y detects a resulting yaw rate co z about the vertical axis z and a yaw rate co y about the transverse axis y resulting from this, from which, however, the yaw rate coz about the surface normal z' is easily derived, so that a controlled curve - and driving straight ahead as in the exemplary embodiment according to FIGS. 1 to 4 is possible and is carried out during operation.
  • the oblique angle y is equal to zero, meaning that the vertical axis z is upright and parallel to the surface normal z'.
  • the toy vehicle 1 which is designed as a replica of a motorcycle, has a controlled support device 25 for specifying the oblique angle y described above.
  • the support device is a pair of laterally protruding arms attached to the underside of the toy vehicle 1. At least one of these arms, here both arms, have their end areas on lane 12 during operation. For this purpose, small support rollers are attached to their ends, which roll on the lane 12. Instead of the support rollers, skids or the like can also be useful.
  • the arms of the support device 25 are pivotally mounted on the chassis of the toy vehicle 1 with a variable pivot angle 6, the associated pivot axis running parallel to the longitudinal axis x of the toy vehicle 1.
  • a pivot drive 26 acts on the arms of the support device 25 to adjust the pivot angle 6. It can also be useful for each arm to have its own pivot drive 26.
  • the respectively set pivot angle 6 specifies the oblique angle y of the vertical axis z of the toy vehicle 1 relative to the surface normal z'.
  • the swivel drive 26 can be a servo with a potentiometer in a conventional design.
  • the swivel drive 26 is part of the steering unit already described above, the steering unit being free of a sensor for determining the swivel angle 6. Even in connection with the setting of the slant angle y, the steering unit does not require a potentiometer of a servo or the like.
  • the swivel drive 26, the control unit 5 and the yaw rate sensor 6 together form a control loop for setting the yaw rate co Cornering is transferred, then for a realistic appearance it must be brought from an upright position to an inclined position with an oblique angle y 0.
  • a corresponding setpoint of the rotation rate co x is generated in the control unit, as a result of which a changed pivot angle 6 of the support device 25 is approached.
  • the skew angle y changes with a rotation rate co x until the skew angle y has reached its desired level.
  • the setpoint of the rotation rate co x is reduced accordingly and the desired skew angle y achieved is maintained. Adjustments to different slant angles y work in the same way, which also applies to righting the toy vehicle after cornering.

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  • Toys (AREA)

Abstract

L'invention concerne un véhicule jouet (1) comprenant des roues (2, 3) et comportant une unité de direction, ainsi qu'un système de véhicule jouet comprenant un tel véhicule jouet (1). L'unité de direction comprend un entraînement de direction (4) agissant sur au moins l'une des roues (2), et une unité de commande (5) agissant sur l'entraînement de direction (4). Ladite au moins une roue (2) qui est sollicitée par l'entraînement de direction (4) est montée sur un châssis du véhicule jouet (1) de façon à être orientable avec un angle de direction (α) variable. L'unité de direction comprend un capteur de vitesse de lacet (6) pour déterminer une vitesse de lacet (ωz) du véhicule jouet (1) autour de son axe vertical (z) et est exempte d'un capteur pour déterminer l'angle de direction (α). L'entraînement de direction (4), l'unité de commande (5) et le capteur de vitesse de lacet (6) forment ensemble une boucle de commande pour régler la vitesse de lacet (ωz) à une valeur cible spécifiée. Le système de véhicule jouet comprend également une piste (12) pour le véhicule jouet (1), l'unité de commande (5) comprenant au moins un capteur (9) pour détecter la piste (12) en question.
PCT/EP2023/060187 2022-04-19 2023-04-19 Véhicule jouet ayant un capteur de vitesse de lacet Ceased WO2023203100A1 (fr)

Priority Applications (4)

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EP23721321.0A EP4511146A1 (fr) 2022-04-19 2023-04-19 Véhicule jouet ayant un capteur de vitesse de lacet
JP2024562171A JP2025513490A (ja) 2022-04-19 2023-04-19 ヨーレートセンサーを有する玩具自動車
CN202380048042.XA CN119403605A (zh) 2022-04-19 2023-04-19 带有转速传感器的玩具车辆
US18/921,651 US20250041749A1 (en) 2022-04-19 2024-10-21 Toy vehicle having a yaw rate sensor

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DE202022102077.9 2022-04-19
DE202022102077.9U DE202022102077U1 (de) 2022-04-19 2022-04-19 Spielfahrzeug mit Drehratensensor

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1977964A1 (fr) * 2006-01-27 2008-10-08 Murata Manufacturing Co. Ltd. Contrôleur de prévention du survirage pour véhicule à deux roues
US20100304640A1 (en) * 2009-05-28 2010-12-02 Anki, Inc. Distributed System of Autonomously Controlled Toy Vehicles
WO2016026039A1 (fr) * 2014-08-18 2016-02-25 Verity Studios Ag Piste invisible pour un système de robot mobile interactif
WO2016168854A1 (fr) * 2015-04-17 2016-10-20 Traxxas Lp Appareil de stabilisation de direction pour un modèle réduit de véhicule
US20180104609A1 (en) * 2014-02-12 2018-04-19 InRoad Toys, LLC Construction System for Creating Autonomous Control System Stimuli and a Complete Deterministic Operational Environment for Mobile Agents Using Printed Adhesive Tape and Other Accessories

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1977964A1 (fr) * 2006-01-27 2008-10-08 Murata Manufacturing Co. Ltd. Contrôleur de prévention du survirage pour véhicule à deux roues
US20100304640A1 (en) * 2009-05-28 2010-12-02 Anki, Inc. Distributed System of Autonomously Controlled Toy Vehicles
US20180104609A1 (en) * 2014-02-12 2018-04-19 InRoad Toys, LLC Construction System for Creating Autonomous Control System Stimuli and a Complete Deterministic Operational Environment for Mobile Agents Using Printed Adhesive Tape and Other Accessories
WO2016026039A1 (fr) * 2014-08-18 2016-02-25 Verity Studios Ag Piste invisible pour un système de robot mobile interactif
WO2016168854A1 (fr) * 2015-04-17 2016-10-20 Traxxas Lp Appareil de stabilisation de direction pour un modèle réduit de véhicule

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EP4511146A1 (fr) 2025-02-26
JP2025513490A (ja) 2025-04-24
CN119403605A (zh) 2025-02-07
DE202022102077U1 (de) 2023-07-21
US20250041749A1 (en) 2025-02-06

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