U.S. patent application number 10/284046 was filed with the patent office on 2003-06-19 for toy vehicle wireless control system.
Invention is credited to Dickinson, James M., Helmlinger, David V., McCall, Charles S., Moll, Joseph T., Weiss, Stephen N., Winkler, Frank W..
Application Number | 20030114075 10/284046 |
Document ID | / |
Family ID | 23334057 |
Filed Date | 2003-06-19 |
United States Patent
Application |
20030114075 |
Kind Code |
A1 |
Moll, Joseph T. ; et
al. |
June 19, 2003 |
Toy vehicle wireless control system
Abstract
A toy vehicle remote control transmitter unit wirelessly
controls the movements of a programmable toy vehicle. The toy
vehicle includes a motive chassis having a plurality of steering
positions. A microprocessor in the transmitter unit emulates manual
transmission operation of the toy vehicle by being in any one of a
plurality of different gear states selected by an operation of
manual input elements on the transmitter unit. Forward propulsion
control signals representing different toy vehicle speed ratios
associated with each of the gear states are transmitted from the
transmitter unit to the toy vehicle. The motive chassis has a
steering feedback sensor with a plurality of defined steering
positions to vary rate of steering position change to avoid
overshoot.
Inventors: |
Moll, Joseph T.; (Prospect
Park, PA) ; Dickinson, James M.; (Haddon Township,
NJ) ; Winkler, Frank W.; (Mickleton, NJ) ;
Helmlinger, David V.; (Mt. Laurel, NJ) ; McCall,
Charles S.; (San Francisco, CA) ; Weiss, Stephen
N.; (Philadelphia, PA) |
Correspondence
Address: |
AKIN GUMP STRAUSS HAUER & FELD L.L.P.
ONE COMMERCE SQUARE
2005 MARKET STREET, SUITE 2200
PHILADELPHIA
PA
19103-7013
US
|
Family ID: |
23334057 |
Appl. No.: |
10/284046 |
Filed: |
October 30, 2002 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
60340591 |
Oct 30, 2001 |
|
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|
Current U.S.
Class: |
446/456 |
Current CPC
Class: |
A63H 30/04 20130101 |
Class at
Publication: |
446/456 |
International
Class: |
A63H 030/04 |
Claims
What is claimed:
1. A toy vehicle remote control transmitter unit comprising: a
housing; a plurality of manual input elements mounted on the
housing for manual movement; a microprocessor in the housing
operably coupled with each manual input element on the housing; a
signal transmitter operably coupled with the microprocessor to
transmit wireless control signals generated by the microprocessor;
and wherein the microprocessor is configured for at least two
different modes of operation, the microprocessor being configured
in one of the at least two different modes of operation to emulate
manual transmission operation of the toy vehicle by being in any of
a plurality of different gear states and to transmit through the
transmitter forward propulsion control signals representing
different toy vehicle speed ratios for each of the plurality of
different gear states, the microprocessor further being configured
to be at least advanced through the plurality of different
consecutive gear states by successive manual operations of at least
one of the manual input devices.
2. The remote control transmitter unit of claim 1 wherein the
microprocessor is configured to further generate the forward
propulsion control signals for the toy vehicle in response to
manual operations of the one manual input device.
3. The remote control transmitter unit of claim 2 wherein the
microprocessor is further configured to respond to two successive
changes of state of the one manual input element within a
predetermined period of time to change a current gear state of the
microprocessor to a next consecutive gear state.
4. The remote control transmitter unit of claim 1 further
comprising a sound generation circuit with a speaker controlled by
the microprocessor and wherein the microprocessor is programmed to
generate sound effects controlled at least in part by the current
gear state of the microprocessor.
5. The remote control transmitter unit of claim 1 wherein the
microprocessor is configured to respond to a propulsion input
element of the plurality of manual input elements to generate the
forward propulsion control signals for the toy vehicle and wherein
the microprocessor is configured for at least a second mode of
operation wherein the microprocessor responds to the propulsion
input element to generate only a single forward propulsion control
signal with a maximum forward speed ratio of the toy vehicle under
any mode of operation of the remote control transmitter unit.
6. The remote control transmitter unit of claim 14 wherein the
forward propulsion control signals generated by the microprocessor
include at least a variable duty cycle component, each transmitted
duty cycle component corresponding to one of a plurality of
predetermined speed ratios of the toy vehicle.
7. The remote control transmitter unit of claim 6 in combination
with the toy vehicle, the toy vehicle including a receiver circuit,
a toy vehicle microprocessor coupled with the receiver circuit, a
variable speed steering motor and a variable speed propulsion
motor, each motor being operably coupled with the vehicle
microprocessor, and the vehicle microprocessor being configured to
operate the variable speed propulsion motor at a duty cycle
corresponding to the variable duty cycle component of the
propulsion control signals.
8. The combination of claim 7 wherein the remote control unit
microprocessor is configured to generate and transmit steering
control signals to the toy vehicle and wherein the toy vehicle
microprocessor is configured to control the steering motor in
response to the steering command signals and to a current steering
position of the toy vehicle.
9. The combination of claim 8 wherein the microprocessor is further
configured to control the steering motor at a first speed where a
new steering position in a steering control signal is adjacent to a
current steering position of the toy vehicle and at second speed
greater than the first speed where the new steering position is
other than adjacent to the current steering position.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional
Application No. 60/340,591, filed Oct. 30, 2001, entitled "Toy
Vehicle Wireless Control System," which is incorporated herein by
reference in its entirety.
BACKGROUND OF THE INVENTION
[0002] This invention relates to toy vehicles and, in particular,
to remotely controlled, motorized toy vehicles.
SUMMARY OF THE INVENTION
[0003] The invention is in a toy vehicle remote control transmitter
unit including a housing, a plurality of manual input elements
mounted on the housing for manual movement, a microprocessor in the
housing operably coupled with each manual input element on the
housing, and a signal transmitter operably coupled with the
microprocessor to transmit wireless control signals generated by
the microprocessor to a toy vehicle. The invention is characterized
in that the microprocessor is configured for at least two different
modes of operation. One of the modes emulates manual transmission
operation of the toy vehicle by being in any one of a plurality of
different gear states and transmitting through the transmitter
forward propulsion control signals representing different speed
ratios for each of the plurality of different gear states. The
microprocessor is further configured to consecutively advance
through the different gear states in response to successive manual
operations of at least one of the manual input devices.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0004] The following detailed description of preferred embodiments
of the invention, will be better understood when read in
conjunction with the appended drawings. For the purpose of
illustrating the invention, there is shown in the drawings
embodiments which are presently preferred. It should be understood,
however, that the invention is not limited to the precise
arrangements and instrumentalities shown. In the drawings:
[0005] FIG. 1A is a top plan view of an exemplary remote
control/transmitter used in accordance with the present
invention;
[0006] FIG. 1B is an exemplary toy vehicle remotely controlled by
the remote control/transmitter of FIG. 1A;
[0007] FIG. 2 is a timing diagram showing an analog output of a
control circuit used to drive different motor speeds of the toy
vehicle of FIG. 1B in accordance with a preferred embodiment of the
present invention;
[0008] FIG. 3 is a diagram showing a trapezoidal velocity profile
of a steering finction of the toy vehicle of FIG. 1B;
[0009] FIG. 4 is a schematic diagram of a control circuit in the
toy vehicle of FIG. 1B, which is directly responsive to steering
commands received in accordance with the present invention;
[0010] FIG. 5 is a schematic diagram of a speed shifter remote
control/transmitter circuit which sends steering commands to the
control circuit of FIG. 4;
[0011] FIGS. 6A, 6B, 6C and 6D, taken together, is a flow chart
illustrating the operation of the vehicle control circuit of FIG.
4;
[0012] FIGS. 7A, 7B, 7C, 7D, 7E, 7F, 7G, 7H, 7I and 7J, taken
together, is a flow chart illustrating the operation of the speed
shifter remote control/transmitter circuit of FIG. 5;
[0013] FIGS. 8A, 8B, 8C, 8D and 8E, taken together, is a schematic
diagram of a toy vehicle control circuit which processes received
steering commands based on current steering position of the toy
vehicle in accordance with an alternate embodiment of the present
invention;
[0014] FIGS. 9A and 9B, taken together, is a schematic diagram of a
speed shifter remote control/transmitter circuit in accordance with
an alternate embodiment of the present invention;
[0015] FIG. 10A depicts a steering output assembly;
[0016] FIG. 10B depicts the assembly of FIG. 10A with the output
member and reduction gearing removed; and
[0017] FIG. 11 depicts the stationary portion or contact member of
a steering sensor.
DETAILED DESCRIPTION OF THE INVENTION
[0018] Related U.S. Application No. 60/340,591 filed Oct. 30, 2001
is incorporated by reference herein. The present invention is a toy
vehicle wireless control system which includes a remote
control/transmitter 100 (FIG. 1A) with a speed shifter remote
control/transmitter circuit 500 (see FIG. 5) or 900 (see FIGS. 9A,
9B), and a remotely controlled toy vehicle 20 (FIG. 1B) with a
receiver/microprocessor based toy vehicle control circuit 400 (see
FIG. 4) or 900 (see FIGS. 9A-9E), also hereinafter referred to as a
speed shifter receiver circuit.
[0019] The remote control/transmitter 100 depicted in FIG. 1A
includes a housing 105 and a plurality of manual input elements
110, 115 mounted on housing 105 and used for controlling the manual
movement of a toy vehicle 20. The manual input elements 110, 115
are conventionally used to supply propulsion or movement commands
and steering commands, respectively. They also enable selection
among three different modes of operation or usage (hereinafter
referred to as "Mode 1," "Mode 2," and "Mode 3"), each having a
different play pattern. Power is selectively provided to circuitry
in the remote control/transmitter 100 via ON/OFF switch 135 (in
phantom in FIG. 1A).
[0020] Car 20 is shown in FIG. 1B and includes a chassis 22, body
24, rear drive wheels 26 operably coupled to drive/propulsion motor
420 (phantom) and front free rotating wheels 28 operably coupled
with steering motor 410 (phantom). An antenna 30 receives command
signals from remote control/transmitter 10 and carries those
signals to the vehicle control circuit 400 (phantom) or 800 (not
shown in FIG. 1B). An on-off switch 450 turns the circuit 400 on
and off, and a battery power supply 435 provides power to the
circuit 400 and motors 410, 420.
[0021] FIG. 4 shows a schematic diagram of a vehicle control
circuit 400 in the toy vehicle 20. The vehicle control circuit 400
includes a steering motor control circuit 405 which controls
steering motor 410, and a propulsion motor control circuit 415
which controls drive motor 420. Microprocessor 4U1 is in
communication with steering motor and drive motor control circuits
405, 415, and controls all other functions executed within the toy
vehicle 20. A vehicle receiver circuit 430 receives control signals
sent by remote control/transmitter 100 and amplifies and sends the
control signals to microprocessor 4U1 for processing. A power
supply circuit 440 powers the vehicle control circuit 400 in toy
vehicle 20 and the steering and propulsion motors 410, 420,
respectively.
[0022] FIG. 5 shows a transmitter circuit 500 in the remote
control/transmitter 100 (see FIG. 1A) that is powered by a battery
505 in communication with a two-position switch 135 that is used to
turn the device 100 on and off and for selecting one of the modes.
The transmitter circuit 500 also includes a microprocessor 5U1. The
microprocessor 5U1 is operably coupled with each of the manual
input elements 110, 115. The remote control/transmitter 100 must
first be turned off via switch 135 to change the mode used. Manual
input element 110 is preferably a center biased rocker button
operating momentary contact switches 110a and 110b, as shown in
FIG. 5. When pressed, the manual input element 110 causes one of
contact switches 110a and 110b to change states. This is sensed by
the microprocessor 5U1 which responds by transmitting a signal via
antenna 120 to cause remotely controlled toy vehicle 20, which
includes receiver/microprocessor 4U1, to move forward or backward.
Manual input element 115 is also preferably a center biased rocker
button operating momentary contact switches 115a and 115b in FIG. 5
which, when pressed, causes the remote control/transmitter 100 to
transmit via antenna 120 a command to receiver/microprocessor 4U1
causing the toy vehicle 20 to steer to the left or to the right.
When manual input element 115 is not pressed (i.e. in center
position), the toy vehicle 20 travels in a straight path. When the
manual input element 110 is not pressed, the vehicle 20 stops.
[0023] Mode 1, a first mode of operation or usage, is the default
mode achieved when the remote control/transmitter 100 is activated
from a deactivated state by moving on-off switch 135 in FIG. 5 from
an "off" position to an "on" position. This mode has a
multiple-speed (3-speed in the present embodiment) manual
gear-shifting play pattern in which the microprocessor 5U1 emulates
a manual transmission operation of the toy vehicle 20 and in which
corresponding sounds are generated by the microprocessor 5U1 and
played on a speaker 125 in the remote control/transmitter 100. Mode
1 has the following features and characteristics:
[0024] (1) The motionless toy vehicle 20 is put into motion by
pressing manual input element 110 to a "forward" button position,
closing or otherwise changing the nominal state of switch 110a on
the remote control/transmitter 100. The microprocessor 5U1 is
configured (i.e., programmed) to respond to the depressions of
manual input element 110 by entering a first gear state of
operation and generating a first forward movement command signal
transmitted to the toy vehicle 20. Initially, the toy vehicle 20
responds to the first signal and moves forward at a first top speed
which is less than a maximum speed the toy vehicle 20 is capable of
running. The microprocessor 5U1 generates a first sound, which is
outputted by speaker 125, to simulate first gear operation of the
toy vehicle 20.
[0025] (2) Once the toy vehicle 20 is moving forward for a while in
a first gear state (as timed by microprocessor 5U1), a visual
indication (e.g., red flashing LED 130) and/or an audible sound
(e.g., single horn beep) can be outputted by the microprocessor 5U1
from the remote control/transmitter 100 to signal to a user that it
is OK to shift to the second gear. Shifting into a higher gear is
performed by momentarily releasing and re-engaging the forward
button position of manual input element 110, which closes switch
110a within a predetermined time window. If the time window
elapses, the toy vehicle 20 will return to first gear state when
the forward button position of manual input element 110 is
activated (i.e., switch 110a is closed). Once in the second gear
state, the microprocessor 4U1 commands the vehicle 20 to move
forward at a second top speed that is faster than the first top
speed but less than maximum speed, and preferably the
microprocessor 5U1 generates a second sound which is outputted by
speaker 125 to simulate second gear operation of the toy vehicle
20. Once the toy vehicle 20 is moving forward for a while in a
second gear state, a visual indication (e.g., red flashing LED 130)
and/or an audible sound (e.g., single horn beep) can be outputted
by microprocessor 5U1 from speaker 125 of the remote
control/transmitter 100 to signal to a user that it is OK to shift
to the third gear. The forward button position of input element 110
closing switch 110a is again momentarily released and re-engaged
within a predetermined time window. If the time window elapses, the
toy vehicle 20 will return to first gear when the forward button
position of manual input element 110 is activated. Once in the
third gear state, the toy vehicle 20 moves forward at a third top
speed that is faster than the second top speed, and preferably the
microprocessor 5U1 generates a third sound that is outputted by
speaker 125 to simulate third gear operation of the toy vehicle 20.
The movement of the toy vehicle 20 is terminated by releasing the
forward button position of manual input element 110 closing switch
110a or by pressing and then releasing reverse button position of
manual input element 110 closing switch 110b.
[0026] (3) In the three-speed embodiment, preferably the top speed
of the toy vehicle 20 may be 62.5% of maximum speed when in the
first gear state, 75% of maximum speed when in the second gear
state, and 100% of maximum speed when in the third gear state.
Other ratios and/or additional ratios to provide four, five, six or
more speeds can be used to simulate other car and truck
shifting.
[0027] (4) If the gear state of the toy vehicle 20 is changed
before the toy vehicle 20 reaches its top speed for the previous
gear by momentarily releasing and re-engaging the forward button
position of manual input element 110, before the microprocessor 5U1
opens the predetermined time window to shift, the microprocessor
5U1 generates a different audible sound (e.g., grinding noise),
which is preferably outputted by the speaker 125 of the remote
control/transmitter 100, to signal that the user shifted too early.
Top speed is not increased.
[0028] (5) Various audible sounds (e.g., peel out, squealing tire,
hard braking, accelerating motor, etc.) are preferably outputted by
the remote control/transmitter 100 in response to activating the
manual input elements 110, 115 on the remote control/transmitter
100. For example, transmitting a steering command by causing manual
input element 115 to close switch 115a while the toy vehicle 20 is
moving (e.g., forward position of manual input element 110 being
pressed changing the state of switch 110a) causes the
microprocessor 5U1 to output an audible sound (e.g., the squealing
of tires) through speaker 125. There is a small delay in producing
the audible sound so that small steering corrections do not cause
the audible sound to be outputted by speaker 125. Releasing either
the forward and reverse position of manual input element 110
preferably causes the microprocessor 5U1 to output an audible sound
(e.g., hard breaking, tire screeching) through speaker 125. An
"idling" sound is then preferably outputted by microprocessor 5U1
through speaker 125 until a next propulsion/drive command is
transmitted.
[0029] (6) Speed of the toy vehicle 20 is controlled by the remote
control/transmitter 100 outputting propulsion control signals
having PWM (Pulse Width Modulation) characteristics with duty
cycles approximate for the speed ratios selected, e.g., 56%, 75%,
and 100% (see FIG. 2). Preferably, the remote control/transmitter
100 outputs a binary signal with two or more values allocated to
propulsion commands. Two binary bits can be used to identify stop
and three forward speed values (e.g., first, second and third
speeds). The vehicle microprocessor 4U1 is preferably programmed to
power each motor 410, 420 according to a duty cycle identified by
the binary bits. Referring to FIG. 2, a fixed time period (e.g.
sixteen milliseconds) can be broken up into fractions (e.g.,
sixteen, one millisecond parts) and power (V hi) supplied to the
motor for the fraction of the time period (e.g., {fraction (0/16)},
{fraction (10/16)}, {fraction (12/16)}, {fraction (16/16)})
commanded by the two binary bits. An {fraction (8/16)} duty cycle
is depicted, with V hi provided for eight parts and V low (i.e. 0
Volts) provided for the remaining eight parts of the period
constituting the cycle. If three bits are allocated to propulsion
commands, a stop command and seven different forward and reverse
speed commands can be encoded. Preferably, reverse speed is at a
ratio of less than 100% for ease of vehicle control and
realism.
[0030] Mode 2 is achieved by turning on switch 135 of the remote
control/transmitter 100 while holding manual input element 110 in a
"forward" movement position (changing the state of switch 110a) on
the remote control/transmitter 100 until the microprocessor 5U1
acknowledges the command by causing the speaker 125 to output an
audible sound (e.g., horn beeps) and/or the red LED 130 to flash.
This mode allows the user to maneuver the toy vehicle 20 in the
usual manner with sounds being generated but no gear shifting
operation. The microprocessor 5U1 is preferably preprogrammed for a
desired default speed, e.g., 100% forward and 50% or 100%
reverse.
[0031] Mode 3 is achieved by turning on switch 135 of the remote
control/transmitter 100 while holding manual input element 110 in a
"reverse" movement position (i.e. changing state of the switch
110b) on the remote control/transmitter 100 until the
microprocessor 5U1 causes speaker 125 to output an audible sound
(e.g., horn beeps) and/or the red LED 130 to flash. This mode
allows the user to maneuver the toy vehicle 20 in the usual manner
with no sound generation by microprocessor 5U1 or gear shifting
operation. The microprocessor 5U1 is preprogrammed for a desired
default speed, e.g., 100% forward and 50% or 100% reverse.
[0032] A "Try Me Mode" may be provided, if desired, allowing only
sound effects of the remote control/transmitter 100 to be produced
while still in its packaging. Sound effects are generated by
pressing any button on the transmitter. Pushing the manual input
element 110 to the "forward" position can cause the start-up sound
to play followed by a peel-out sound with both motor and shifting
sounds. Pushing the manual input element 110 to the "reverse"
position can cause the horn sound to play with the motor running
sound. Pushing the manual input element 15 "left" and "right" can
activate the squealing tire sound accompanied by the engine
downshift sound. The "Try Me Mode" preferably is deactivated
automatically when the toy is taken out of its packaging and a
pull-tab is removed from the remote control/transmitter 100,
allowing the transmitter 100 and toy vehicle 20 to be operated in
one of the three modes described above.
[0033] FIGS. 7A-7J depict the various steps of an operating program
700 contained by the transmitter circuit 500, such as by firmware
or software in the microprocessor 5U1, to operate the remote
control/transmitter 100 in the multiple modes of operation and in
the different shift states in the first mode of operation. Again,
the microprocessor 5U1 is preferably configured to transmit
commands in binary form with propulsion and/or steering commands
encoded as binary bits or sets of such bits.
[0034] FIGS. 6A-6C depict the various steps of an operating program
600 contained by the vehicle control circuit 400, such as by
firmware or software in the microprocessor 4U1, to operate the toy
vehicle 20 in the multiple modes and in the different shift states
in the first mode of operation. FIG. 6D depicts the steps of a
subroutine 604' which is entered four different times at steps 604
in the main program 600 (FIGS. 6A-6C) to increment and test the
state of a pulse width modulator (PWM) timer (i.e. counter) to
power or turn off power to either motor 410, 420. The operating
program 600 must be cycled through four times to increment the PWM
counter a total of sixteen times to complete one PWM power cycle
(sixteen parts) for either motor 410, 420.
[0035] FIGS. 8A-8E collectively represent a schematic diagram for a
second embodiment toy vehicle control circuit indicated generally
at 800 in the Figure in which FIG. 8A depicts a vehicle receiver
circuit 830 which receives control signals sent by the remote
control/transmitter 100 and amplifies and sends those signals to
microprocessor 8U2 in FIG. 8B. Outputs D4 and D5 from the
microprocessor 8U2 are sent to a steering motor control circuit 805
depicted in FIG. 8C while outputs C0-C3 are transmitted from the
microprocessor 8U2 to a propulsion motor control circuit 815
depicted in FIG. 8D. Circuit element 8U3 is a dual operating
amplifier chip. Power is supplied to both the steering motor 410 in
FIG. 8C and drive motor 420 in FIG. 8D as well as the other
components of circuit 800 via a power supply sub circuit 430
depicted in FIG. 8E which include both the ON/OFF switch and a
battery powered supply 435. One difference between circuit 800 and
circuit 400 is the provision of a steering feedback through
connector 860 in FIG. 8B to the vehicle microprocessor 8U2. The
purpose of this will be described shortly.
[0036] FIGS. 9A and 9B collectively depict a second embodiment
remote control/transmitter circuit indicated generally at 900 which
is shown essentially in FIG. 9A and indicated at 910. The only
missing element is a power supply circuit 920 shown in FIG. 9B
which provides two outputs Vdd and Vbatt. Again, manual input
elements 110 and 115 control momentary contacts switches 910a, 910b
and 915a, 915b respectively. These switches are located on a board
separate from the board supporting a microprocessor 9U1 and are
mechanically and electrically coupled together through connectors
J6 and J7.
[0037] FIG. 10A depicts part of a steering sensor indicated
generally at 1000 in a steering output assembly indicated generally
at 1100. Output assembly 110 includes a housing 1102 containing
steering motor 410, a plurality of compound reduction gears
indicated in phantom generally at 1102, 1104 driving a shaft 1110
(phantom) keyed with a rotary output member 1120 on the housing
1102. Output member 1120 rotates in an arc, moving from side to
side a wire member 1130 defining a pair of steering arms 1132, 1134
operably coupled with separate ones of the pair of front wheels 28
of the vehicle 20 to pivot those wheels side to side about vertical
axes in a conventional manner to steer wheel 20. FIG. 10B shows the
output assembly 1100 with the gears 1102, 1104 and a top cover
carrying the rotary output member 1120 removed. The left side of
assembly 1100 includes steering sensor 1000 while the right side
includes steering motor 420. Sensor 1000 includes a stationary
member or portion, which is indicated generally at 1010 and seen
separately in FIG. 11, and a rotary member or rotating portion
indicated generally at 1050. The rotary member 1050 includes a
plurality of connected concentric ring portions 1052, 1054, 1056
each containing one or more dimples 1052a, 1054a and 1056a, 1056b
for the innermost ring. These dimples ride over the upper surface
of the stationary portion 1010. Referring to FIG. 11, the
stationary portion 1010 includes a circuit board 1012 on which are
mounted three electrically conductive, generally concentric tracks
1020, 1030 and 1040. Each track includes an output terminal 1022,
1032, 1042, respectively on one edge of the board 1012. These three
terminals connect via a suitable electrical connection (e.g.
connector 860 in FIG. 8B) to microprocessor 8U2. Each track 1020,
1030, 1040 is continuous around a central opening 1014 in the
circuit board 1012 through which the output shaft 1110 extends.
Rotating portion 1050 is keyed with shaft 1110 to rotate with the
shaft. Rotating portion 1050 is a continuous piece of electrically
conductive material such as metal and electrically couples one or
more of the two outer tracks 1020 and 1030 with the innermost track
1040. A high level voltage is applied by the microprocessor 8U2
through the connecter 860 to the terminals 1022 and 1032. Terminal
1042 is connected to common or ground. The contacting dimples 1056a
1056b are in constant contact with the ring portion 1044 of
innermost track 1040. In contrast, dimples 1054a of ring portion
1054 only contact wiper portions 1034 and 1036 of central track
1030 at certain angular positions of rotating portion 1050.
Similarly, dimples 1052a of ring 1052 only contact wiper portions
1024 and 1026 of the outermost track 1020.
[0038] Referring to FIG. 1, dimples 1052a, 1054a, 1056a, 1046b of
rotating contact member 1050 come in contact with the tracks 1020,
1030, 1040 in five different steering positions (far left indicated
at 1060, near left 1062, center 1064, near right 1066, far right
1068) on printed circuit board 1010 as member 1050 turns clockwise
from far left to far right. When the rotating member 1050 is turned
fully left or right, dimples 1052a, 1054a loose contact with tracks
1020, 1030 and logic bits "1,1" are outputted from electrical
contacts 1022, 1032. When the rotating member 1050 is turned
clockwise from far left to left of center 1062, logic bits "0,1"
are outputted from electrical contacts 1022, 1032. When the
rotating member is in the center position 1064, logic bits "0,0"
are outputted from electrical contacts 1022, 1032. When the
rotating member is turned to the right of center but not fully
right, logic bits "1,0" are outputted from electrical contacts
1022, 1032. When fully right, logic bits "1, 1" are again output
from contacts 1022, 1032.
[0039] The states of electrical contacts 1022, 1032 are monitored
by processor 8U2 and the speed of steering motor 410 is preferably
controlled based on the outputted logic bits (i, i) which indicate
the position of the front wheels 28. Normally the steering motor
410 operates at top speed (100%). However, with feedback provided
by sensor 1000, the motor 410 can be operated to prevent overshoot.
FIG. 3 shows a trapezoidal velocity profile of speed versus time
for the steering function of a toy vehicle 20 according to a
preferred embodiment of the present invention. Steering motor 410
may be controlled like propulsion motor 420 by a PWM duty cycle to
prevent overshoot of the steering system. For example, the steering
motor 410 may be driven by microprocessor 8U2 (or 4U1) at a higher
duty cycle when going from a left or right turn to a turn in the
other direction (e.g., from far left to far right) and at a lesser
duty cycle when going from a center position to right or left and
vice versa. When logic bits "0, 1" are detected as the rotating
member 1120 turns from center position (0, 0) to the left and
passes the near left wipers 1024, 1026, or when logic bits "1, 0"
are detected as the output member 1120 and rotary member 1050 turn
to the right and pass the near right wipers 1034, 1036, the rate of
the steering motor and front wheel rotation is reduced to 50% to
avoid overshooting its destination (far left or far right).
Preferably too, the speed of the propulsion motor 420 can further
be reduced automatically by the processor 8U2 when the processor
8U2 detects that a turn of the toy vehicle 20 is in progress to
automatically slow the vehicle to a speed less than maximum while
making the turn.
[0040] With a start and end point considered in a closed loop
system, speed of the steering motor 410 in the toy vehicle 20 can
be varied so that steering follows a trapezoidal profile as shown
in FIG. 3, i.e. start from zero and reach a maximum turning rate,
and then slowed to reduce its rate of rotation so that steering
system momentum is dissipated and the steering system does not
overshoot its target. When the command to steer to a new position
is given, firmware operating in conjunction with microprocessor 8U2
(or 4U1) will identify the current steering position and move at a
higher rate and duty cycle (e.g., 100% duty cycle) when the
commanded steering position is more than one steering position away
from (i.e., other than adjacent to) its current position. For
example, in going from a left turn to a right turn through
consecutive outputs (1, 1), (0, 1), (1, 1), (1, 0) to (1, 1), the
motor 410 may be driven at high speed (100% duty cycle) until
center position (0, 0) or near right (1, 0) is encountered and the
motor 410 then driven at a lower speed (e.g., 50% duty cycle) until
far right (1, 1) is sensed.
[0041] Steering control can be further refined if the steering
function is spring centered, i.e. a single torsion spring or pair
of compression or tension springs (none depicted) used to drive the
rotary output member 1120 to the straight forward position. Then
the microprocessor 8U2 (or 4U1) can be configured by programming to
account for action of the spring(s). For example, turning from left
to right, the microprocessor 8U2 may drive at high level and low
level in moving more than one steering position (e.g. left-right)
or only one steering position (e.g. center left/right),
respectively, from the present position and at different speeds if
moving with or against a spring. For example, movement left to
right or vice versa can begin at full speed (100% duty cycle) and
transfer to first low speed (e.g. 50% duty cycle) from the center
position (0, 0) to the far right position to drive against the
centering spring in the latter part of the movement. In going from
right or left to center with spring assistance, the motor 410 is
operated at a second, lower speed (e.g., 37.5% duty cycle),
whereas, while going from center to left or right against a spring,
the motor 410 is operated at the first low speed (e.g., 50%).
[0042] A spring loaded steering function of the toy vehicle 20 may
also incorporate a target pad timeout period which monitors the
time it takes for the sensor 1000 to reach a particular steering
position (center, near left, far left, near right, far right). If
the position is not reached within a predetermined period of time,
the power to the motor 410 is turned off and the spring(s) will
return the steering output number 1120 to the center position. If
the steering position does not return to the center position, the
microprocessor 8U2 (or 4U1) is alerted that the steering is
misaligned and electromechanically re-centers the steering.
[0043] Preferred transmitter code used in a remote
control/transmitter 100 operating in accordance with the present
invention is located on pages A-1 through A-53 of the attached
Appendix incorporated by reference herein. Preferred receiver code
used in a toy vehicle 20 operating in accordance with the present
invention is located on pages A-54 through A-77 of the
Appendix.
[0044] In addition to duty cycle control in the vehicle 20, speed
control of the vehicle 20 could be performed by the remote
control/transmitter 100 by duty cycle transmission of a propulsion
or steering signal (i.e. transmit the signal(s) several times
followed by a period with no signal) or by varying the rate at
which the propulsion signal is transmitted (e.g., every 10, 15 or
20 millisecond). Of course, the microprocessor of the toy vehicle
20 would also have to be appropriately configured to operate with
such a duty cycle arrangement.
[0045] It will be appreciated by those skilled in the art that
changes could be made to the embodiments described above without
departing from the broad inventive concept thereof. It is
understood, therefore, that this invention is not limited to the
particular embodiments disclosed, but it is intended to cover
modifications within the spirit and scope of the present
invention.
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