U.S. patent application number 13/305613 was filed with the patent office on 2013-04-04 for autonomous vehicle system.
This patent application is currently assigned to INNOVATION FIRST, INC.. The applicant listed for this patent is Robert H. Mimlitch, III, David Anthony Norman, Raul Olivera. Invention is credited to Robert H. Mimlitch, III, David Anthony Norman, Raul Olivera.
Application Number | 20130084774 13/305613 |
Document ID | / |
Family ID | 47993002 |
Filed Date | 2013-04-04 |
United States Patent
Application |
20130084774 |
Kind Code |
A1 |
Mimlitch, III; Robert H. ;
et al. |
April 4, 2013 |
AUTONOMOUS VEHICLE SYSTEM
Abstract
An apparatus includes a housing, a rotational motor situated
within the housing, an eccentric load adapted to be rotated by the
rotational motor, and a plurality of legs each having a leg base
and a leg tip at a distal end relative to the leg base. The legs
are coupled to the housing at the leg base and include at least one
driving leg constructed from a flexible material and configured to
cause the apparatus to move in a direction generally defined by an
offset between the leg base and the leg tip as the rotational motor
rotates the eccentric load.
Inventors: |
Mimlitch, III; Robert H.;
(Rowlett, TX) ; Norman; David Anthony;
(Greenville, TX) ; Olivera; Raul; (Greenville,
TX) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Mimlitch, III; Robert H.
Norman; David Anthony
Olivera; Raul |
Rowlett
Greenville
Greenville |
TX
TX
TX |
US
US
US |
|
|
Assignee: |
INNOVATION FIRST, INC.
Greenville
TX
|
Family ID: |
47993002 |
Appl. No.: |
13/305613 |
Filed: |
November 28, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61543047 |
Oct 4, 2011 |
|
|
|
Current U.S.
Class: |
446/457 ;
238/10A; 246/473A |
Current CPC
Class: |
A63H 11/02 20130101;
A63H 29/22 20130101; A63H 2018/165 20130101; A63H 18/16
20130101 |
Class at
Publication: |
446/457 ;
238/10.A; 246/473.A |
International
Class: |
A63H 29/00 20060101
A63H029/00; A63H 18/12 20060101 A63H018/12; A63H 18/02 20060101
A63H018/02 |
Claims
1. A toy vehicle comprising: a battery; a plurality of wheels,
wherein at least one wheel is adapted to contact and roll on a
surface; a vibrating mechanism connected to the battery; and at
least one driving leg, wherein vibration caused by the vibrating
mechanism causes the at least one driving leg to move the vehicle
across the surface.
2. The toy vehicle of claim 1 wherein the vibrating mechanism
includes a motor and a counterweight adapted to be oscillated by
the motor.
3. The toy vehicle of claim 1 wherein the at least one driving leg
is curved toward a rear end of the vehicle.
4. The toy vehicle of claim 1 wherein the vehicle includes a single
driving leg.
5. The toy vehicle of claim 4 wherein the single driving leg is at
least one of laterally centered or located toward a front end of
the vehicle.
6. The toy vehicle of claim 1 wherein the vehicle includes a pair
of driving legs.
7. The toy vehicle of claim 6 wherein the pair of driving leg are
located toward a front end of the vehicle and are laterally spaced
inside of a pair of front wheels.
8. The toy vehicle of claim 1 wherein the at least one driving leg
is constructed from a rubber material, elastomer or thermoplastic
elastomer.
9. The toy vehicle of claim 1 wherein the vibrating mechanism
comprises a rotational motor having a housing and a counterweight
disposed within the housing and adapted to be rotated by the
rotational motor, with the housing of the rotational motor
including two flat, round sides connected by a cylindrical
portion.
10. The toy vehicle of claim 1 wherein the vibrating mechanism
comprises a rotational motor and a counterweight adapted to be
rotated by the rotational 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.
11. The toy vehicle of claim 10 wherein a center of mass of the
counterweight is substantially aligned with a longitudinal
centerline of the vehicle.
12. The toy vehicle of claim 10 wherein the counterweight is
situated near a front axle of the vehicle that supports a pair of
front wheels.
13. The toy vehicle of claim 10 wherein a rotational axis of the
counterweight is substantially aligned with a front axle of the
vehicle that supports a pair of front wheels.
14. The toy vehicle of claim 2 wherein the motor includes a
rotational axis perpendicular to a direction in which the vehicle
is adapted to move and parallel to a surface that supports the
vehicle.
15. The toy vehicle of claim 14 wherein the motor is adapted to
rotate in a clockwise direction when viewed from the right side of
the vehicle.
16. The toy vehicle of claim 1 wherein the vehicle includes a
chassis, with the vibrating mechanism, battery, switch, and at
least one driving leg connected to the chassis.
17. The toy vehicle of claim 16 wherein the chassis includes holes
for receiving axles for the wheels.
18. The toy vehicle of claim 17 wherein one or more of the holes
for receiving an axle are slotted to allow a corresponding axle to
move vertically as the toy vehicle hops.
19. The toy vehicle of claim 1 further comprising a front linkage
connected to the chassis, wherein the linkage is attached to a
pivot to allow the front wheels to move vertically as the toy
vehicle hops.
20. The toy vehicle of claim 19 wherein the front wheels are
rotatably coupled to a front axle supported by the front linkage,
with the front linkage having a pivot parallel to the front axle
and spaced away from the front axle.
21. The toy vehicle of claim 20 wherein the front axle engages a
slot adapted to limit vertical movement of the front axle.
22. The toy vehicle of claim 1 wherein a longitudinal offset
between a leg tip and a leg base of the at least one driving leg
and a vertical offset between the leg tip and the leg base of the
at least one driving leg form at least a twenty-five degree angle
relative to a vertical plane orthogonal to a longitudinal dimension
of the vehicle.
23. The toy vehicle of claim 22 wherein the longitudinal offset
between the leg tip and the leg base of the at least one driving
leg and the vertical offset between the leg tip and the leg base of
the at least one driving leg form an angle relative to a vertical
plane orthogonal to a longitudinal dimension of the vehicle of
approximately forty degrees.
24. The toy vehicle of claim 1 wherein a circumferential surface of
at least one of the plurality of wheels is tapered smaller away
from an outside edge of the wheel.
25. The toy vehicle of claim 1 further comprising a switch adapted
to be actuated by a magnet adjacent to the vehicle.
26. The toy vehicle of claim 1 wherein the vehicle replicates a
production vehicle and has dimensions of smaller than 1:75 scale of
the production vehicle.
27. The toy vehicle of claim 1 wherein the vehicle has a length of
less than 2 inches and a width of less than 1 inch.
28. The toy vehicle of claim 1 wherein the plurality of wheels
include front wheels and back wheels, with the vibrating mechanism
situated longitudinally between the front wheels and the back
wheels.
29. The toy vehicle of claim 1 wherein the vehicle includes a rear
axle adapted to engage the back wheels and the battery is situated
longitudinally over the rear axle.
30. The toy vehicle of claim 1 wherein the battery is situated
toward the back of the vehicle relative to the vibrating
mechanism.
31. The toy vehicle of claim 1 wherein the battery is situated
longitudinally between the front wheels and the back wheels.
32. A toy vehicle comprising: a battery; a plurality of wheels,
wherein at least one wheel is adapted to contact and roll on a
surface; a vibrating mechanism connected to the battery; and a
plurality of bristles, wherein vibration caused by the vibrating
mechanism causes the plurality of bristles to move the vehicle
across the surface.
33. The toy vehicle of claim 32 wherein the vibrating mechanism
includes a motor and a counterweight adapted to be oscillated by
the motor.
34. The toy vehicle of claim 32 wherein the vibrating mechanism
comprises a rotational motor having a housing and a counterweight
disposed within the housing and adapted to be rotated by the
rotational motor, with the housing of the rotational motor
including two flat, round sides connected by a cylindrical
portion.
35. The toy vehicle of claim 32 wherein the vibrating mechanism
comprises a rotational motor and a counterweight adapted to be
rotated by the rotational 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.
36. The toy vehicle of claim 35 wherein a center of mass of the
counterweight is substantially aligned with a longitudinal
centerline of the vehicle.
37. The toy vehicle of claim 35 wherein the counterweight is
situated near a front axle of the vehicle that supports a pair of
front wheels.
38. The toy vehicle of claim 35 wherein a rotational axis of the
counterweight is substantially aligned with a front axle of the
vehicle that supports a pair of front wheels.
39. The toy vehicle of claim 32 wherein the vibrating mechanism
comprises a rotational motor having a rotational axis perpendicular
to a direction in which the vehicle is adapted to move and parallel
to a surface that supports the vehicle.
40. The toy vehicle of claim 39 wherein the motor is adapted to
rotate in a clockwise direction when viewed from the right side of
the vehicle.
41. The toy vehicle of claim 32 wherein the vehicle includes a
chassis, with the vibrating mechanism, battery, and switch
connected to the chassis.
42. The toy vehicle of claim 41 wherein the chassis includes holes
for receiving axles for the wheels.
43. The toy vehicle of claim 42 wherein one or more of the holes
for receiving an axle are slotted to allow a corresponding axle to
move vertically as the toy vehicle moves vertically.
44. The toy vehicle of claim 32 further comprising a front linkage
connected to the chassis, wherein the front linkage is attached to
a pivot to allow wheels coupled to the front linkage to move
vertically as the toy vehicle moves vertically.
45. The toy vehicle of claim 44 wherein the front wheels are
rotatably coupled to a front axle supported by the front linkage,
with the front linkage having a pivot parallel to the front axle
and spaced away from the front axle.
46. The toy vehicle of claim 45 wherein the front axle engages a
slot adapted to allow vertical movement of the front axle.
47. The toy vehicle of claim 32 wherein a circumferential surface
of at least one of the plurality of wheels is tapered smaller away
from an outside edge of the wheel.
48. The toy vehicle of claim 32 further comprising a switch adapted
to be actuated by a magnet adjacent to the vehicle.
49. An autonomous toy vehicle comprising: a motor adapted to induce
motion of the autonomous vehicle; a battery; a switch adapted to
connect the battery to the motor or disconnect the battery from the
motor based on a signal in a vicinity of the vehicle; and a
plurality of wheels.
50. The toy vehicle of claim 49 wherein the switch comprises a reed
switch and the signal comprises a magnetic field.
51. The toy vehicle of claim 49 wherein the switch comprises an
optical switch and the signal comprises an optical signal.
52. The toy vehicle of claim 49 wherein the switch is adapted to
receive a radio signal and the signal comprises a radio signal.
53. The toy vehicle of claim 49 wherein the switch comprises a
touch sensor and the signal comprises a contact adapted to engage
the touch sensor.
54. The toy vehicle of claim 49 wherein a circumferential surface
of at least one of the plurality of wheels is tapered smaller away
from an outside edge of the wheel.
55. The toy vehicle of claim 49 wherein the vehicle includes a
chassis, with the motor, battery, and switch connected to the
chassis and wherein the chassis includes holes for receiving axles
for the wheels, with one or more of the holes for receiving an axle
being slotted to allow a corresponding axle to move vertically as
the toy vehicle hops.
56. A track system for a toy vehicle comprising: at least one
intersection component having a plurality of connectors adapted to
interconnect the intersection component with at least one other
track component, wherein each of the components include at least
one lane and the intersection component includes a magnet
selectively moveable between at least a first location adjacent to
a first lane and second location defining one of a retracted
position or a second location adjacent to a second lane.
57. The track system of claim 56 wherein the magnet is adapted to
actuate a switch included in a toy vehicle as the toy vehicle moves
on the first lane when the magnet is in the first location.
58. The track system of claim 57 wherein the magnet is adapted to
rotate about an axis perpendicular to a surface on which the toy
vehicle moves.
59. A track system for a toy vehicle comprising: one or more
straight track components having side walls and a plurality of
lanes defined by a dashed raised centerline adapted to cause
vehicles traveling down one of the lanes to tend to stay within the
lane.
60. The track system of claim 59 further comprising: one or more
curved track components having side walls and a substantially
continuous raised centerline adapted to cause vehicles traveling
down one of the lanes to tend to stay within the lane as the
vehicles move through the curve, wherein each of the straight track
components include connectors adapted to interconnect the track
component with at least one other track component.
61. The track system of claim 60 wherein the dashed raised
centerline and the substantially continuous raised centerline are
defined by an upward slope situated at least at an edge of the
lane.
62. The track system of claim 60 wherein the dashed raised
centerline and the substantially continuous raised centerline are
defined by a vertical protrusion having substantially vertical
sides at an edge of the lane.
63. A track system for a toy vehicle comprising: an attachment for
a track component, wherein the track component includes one or more
lanes and is adapted to interconnect with one or more other track
components and the attachment includes a signal generating
mechanism adapted to selectively generate a signal in a vicinity of
a lane of the track component adjacent to the attachment and the
signal is adapted to actuate a switch in a vehicle located in the
lane, wherein actuation of the switch is adapted to cause power
from a battery in the vehicle to be removed from a motor in the
vehicle.
64. The track system of claim 63 wherein the signal generating
mechanism includes a magnet selectively moveable between at least a
first location adjacent to a first lane and second location
defining a retracted position, with the magnet being adapted to
interact with a switch in the vehicle when the magnet is in the
first location to cause power from the battery to be removed from
the motor.
65. The track system of claim 63 wherein the signal generating
mechanism selectively generates an optical signal adapted to
interact with an optical sensor in the vehicle when the vehicle is
in a first lane adjacent to the signal generating mechanism to
cause power from the battery to be removed from the motor.
66. The track system of claim 63 wherein the signal generating
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 generating mechanism to cause power
from the battery to be removed from the motor.
67. A track system for a toy vehicle comprising: an attachment for
a track component, wherein the track component includes one or more
lanes and is adapted to interconnect with one or more other track
components and the attachment is adapted to selectively, depending
on a position of a switch included in the attachment, activate a
manual switch in the vehicle when the vehicle is in a first lane
adjacent to the attachment to cause power from the battery to be
removed from the motor.
68. A track system for a toy vehicle comprising: a track component
including one or more lanes for autonomous vehicles and one or more
parking spaces for the vehicles, wherein the track component is
adapted to interconnect with one or more other track components and
the track component includes a magnet adjacent to each of the one
or more parking spaces, with the magnet being adapted to interact
with a switch in the vehicle when the vehicle is in a corresponding
parking space to cause power from the battery to be removed from
the motor.
69. The track system of claim 68 wherein each of the one or more
parking spaces further comprises at least one sidewall and a lower
profile ridge separating the parking space from a lane of the track
component.
70. A method for inducing movement of a toy vehicle having a
vibration drive, the method comprising: inducing vibration of the
toy vehicle to cause the toy vehicle to move using one or more
driving appendages contacting a first surface of a track and wheels
contacting the track; and at least one of: allowing the toy vehicle
to roll on the wheels based on a second surface of the track being
adapted to preclude contact with the one or more driving
appendages; or causing the vehicle to stop using a magnet connected
to the track, wherein the magnet causes actuation of a reed switch
that connects a battery to a motor of the vehicle.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit under 35 U.S.C.
.sctn.119(e) of U.S. Patent Application No. 61/543,047, entitled
"Vibration Powered Vehicle," filed Oct. 4, 2011, which is
incorporated herein by reference in its entirety.
BACKGROUND
[0002] This specification relates 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.
[0003] One example of vibration driven movement is a vibrating
electric football game. A vibrating horizontal metal surface
induced inanimate plastic figures to move randomly or slightly
directionally. More recent examples of vibration driven motion use
internal power sources and a vibrating mechanism located on a
vehicle.
[0004] One method of creating movement-inducing vibrations is to
use rotational motors that spin a shaft attached to a
counterweight. The rotation of the counterweight induces an
oscillatory motion. Power sources include wind up springs that are
manually powered or DC electric motors. The most recent trend is to
use pager motors designed to vibrate a pager or cell phone in
silent mode. Vibrobots and Bristlebots are two modern examples of
vehicles that use vibration to induce movement. For example, small,
robotic devices, such as Vibrobots and Bristlebots, can use motors
with counterweights to create vibrations. The robots' legs are
generally metal wires or stiff plastic bristles. The vibration
causes the entire robot to vibrate up and down as well as rotate.
These robotic devices tend to drift and rotate because no
significant directional control is achieved.
[0005] Vibrobots tend to use long metal wire legs. The shape and
size of these vehicles vary widely and typically range from short
2'' devices to tall 10'' devices. Rubber feet are often added to
the legs to avoid damaging tabletops and to alter the friction
coefficient. Vibrobots typically have 3 or 4 legs, although designs
with 10-20 exist. The vibration of the body and legs creates a
motion pattern that is mostly random in direction and in rotation.
Collision with walls does not result in a new direction and the
result is that the wall only limits motion in that direction. The
appearance of lifelike motion is very low due to the highly random
motion.
[0006] Bristlebots are sometimes described in the literature as
tiny directional Vibrobots. Bristlebots use hundreds of short nylon
bristles for legs. The most common source of the bristles, and the
vehicle body, is to use the entire head of a toothbrush. A pager
motor and battery complete the typical design. Motion can be random
and directionless depending on the motor and body orientation and
bristle direction. Designs that use bristles angled to the rear
with an attached rotating motor can achieve a general forward
direction with varying amounts of turning and sideways drifting.
Collisions with objects such as walls cause the vehicle to stop,
then turn left or right and continue on in a general forward
direction. The appearance of lifelike motion is minimal due to a
gliding movement and a zombie-like reaction to hitting a wall.
SUMMARY
[0007] In general, one innovative aspect of the subject matter
described in this specification can be embodied in apparatus (e.g.,
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 vibrating mechanism connected
to the motor, and at least one driving leg. Vibration caused by the
vibrating mechanism causes the at least one driving leg to move the
vehicle across the surface.
[0008] These and other embodiments can each optionally include one
or more of the following features. The one or more driving legs are
curved toward a rear end of the vehicle. The vehicle includes a
single driving leg. The single driving leg is laterally centered
and/or located toward a front end of the vehicle. The one or more
driving legs are constructed from a rubber material or other
elastomer. The motor is a rotational motor and the vibrating
mechanism includes an eccentric load adapted to be rotated by the
rotational motor. The rotational motor includes a housing and the
eccentric load includes a counterweight disposed within the
housing. The housing of the rotational motor includes two flat,
round sides connected by a cylindrical portion. The motor includes
a rotational axis perpendicular to a direction in which the vehicle
is adapted to move and parallel to a surface that supports the
vehicle. The motor is adapted to rotate in a clockwise direction
when viewed from the right side of the vehicle. The vehicle
includes a chassis, with the motor, battery, switch, and at least
one driving leg connected to the chassis. The chassis includes
holes for receiving axles for the wheels. The chassis includes
multiple holes adapted to support multiple alternative wheelbases.
One or more of the holes for receiving an axle are slotted to allow
a corresponding axle to move vertically as the toy vehicle hops.
The switch includes a reed switch adapted to be actuated by a
magnet adjacent to the vehicle. The vehicle replicates a production
vehicle and has dimensions of smaller than 1:75 scale of the
production vehicle. The vehicle has a length of less than 2 inches
and a width of less than 1 inch. The plurality of wheels include
front wheels and back wheels, with the motor situated
longitudinally between the front wheels and the back wheels. The
motor is centered laterally in the vehicle. The motor is located as
far forward as the vehicle type allows to maximize energy transfer
to the legs. The motor is skewed to one side to allow for off
center gearing. The vehicle includes a rear axle adapted to engage
the back wheels and the battery is situated longitudinally over the
rear axle. The battery is situated toward the back of the vehicle
relative to the motor. The battery is situated longitudinally
between the front wheels and the back wheels. The plurality of
wheels includes a rubber circumferential surface. The plurality of
wheels are constructed from a plastic material.
[0009] In general, another aspect of the subject matter described
in this specification can be embodied in apparatus that include a
motor adapted to induce motion of the vehicle, a battery, a reed
switch adapted to connect the battery to the motor or disconnect
the battery from the motor based on a magnetic field in a vicinity
of the vehicle, and a plurality of wheels.
[0010] In general, another aspect of the subject matter described
in this specification can be embodied in a system that includes at
least one intersection component having a plurality of connectors
adapted to interconnect the intersection component with at least
one other track component. Each of the components include at least
one lane and the intersection component includes a magnet
selectively moveable between at least a first location underneath a
first lane and second location defining one of a retracted position
or a second location underneath a second lane. A selectively
moveable magnet is included in a modular interactive device that
can be selectively attached to a track component.
[0011] These and other embodiments can each optionally include one
or more of the following features. The magnet is adapted to actuate
a reed switch included in a toy vehicle as the toy vehicle moves on
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 detents adapted to tend to maintain the magnet in each of
the first position and the second position. The intersection
component includes a three-way intersection. The intersection
component includes a curved wall portion adapted to cause a toy
vehicle to turn. The intersection component includes a four-way
intersection. At least one of the lanes of the intersection
component includes a selectively rotatable vertical diverter
adjacent to a lane wall of the intersection component, and the
selectively rotatable vertical diverter is adapted to be
selectively positioned at least between a first plane defined by a
lane wall of the intersection component and a second plane situated
at an oblique angle to the first plane. Positioning the selectively
rotatable vertical diverter at an oblique angle to the first plane
is adapted to cause a toy vehicle to change direction. Positioning
the selectively rotatable vertical diverter at an oblique angle to
the first plane is adapted to cause a toy vehicle to turn toward a
lane having a different direction. The intersection component
includes a set of one or more main lanes and a set of one or more
secondary lanes and the first position of the magnet is beneath a
particular one of the secondary lanes. The magnet is coupled to a
button for lowering the magnet, with the second position located
farther beneath the particular secondary lane than the first
position. The system further includes a plurality of straight track
components and a plurality of curved track components, and each of
the components is adapted to connect to at least one of the other
components. A vehicle includes a reed switch adapted to connect and
disconnect a battery of the vehicle from a motor of the vehicle
based on proximity to a magnet. The vehicle 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
vibrating mechanism connected to the motor, and at least one
driving leg, wherein vibration caused by the vibrating mechanism
causes the at least one driving leg to move the vehicle across the
surface. At least a portion of the one or more track components
include a first surface feature adapted to contact the at least one
driving 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 include a second surface feature adapted to avoid
contact with the at least one driving leg when any number of the
plurality of wheels are in contact with the surface. A curved
two-lane track has a raised solid lane divider to keep cars on the
inside lane in their lane. A straight two-lane track includes a
dashed lane divider so one car can be diverted to the opposite lane
when car collisions occur in a single lane.
[0012] In general, another aspect of the subject matter described
in this specification can be embodied in methods that include
inducing vibration of a toy vehicle having a vibration drive to
cause the toy vehicle to move using one or more driving appendages
contacting a first surface of a track and wheels contacting the
track and at least one of: allowing the toy vehicle to roll on the
wheels based on a second surface of the track being adapted to
preclude contact with the one or more driving appendages, or
causing the vehicle to stop using a magnet connected to the track,
wherein the magnet causes actuation of a reed switch that connects
a battery to a motor of the vehicle.
[0013] In general, another aspect of the subject matter described
in this specification can be embodied in a vehicle or other
apparatus that includes a battery; a plurality of wheels, wherein
at least one wheel is adapted to contact and roll on a surface; a
vibrating mechanism connected to the battery; and at least one
driving leg. Vibration caused by the vibrating mechanism causes the
at least one driving leg to move the vehicle across the
surface.
[0014] These and other embodiments can each optionally include one
or more of the following features. The vibrating mechanism includes
a motor and a counterweight adapted to be oscillated by the motor.
The at least one driving leg is curved toward a rear end of the
vehicle. The toy vehicle includes a single driving leg. The single
driving leg is at least one of laterally centered or located toward
a front end of the vehicle. The vehicle includes a pair of driving
legs. The pair of driving leg are located toward a front end of the
vehicle and are laterally spaced inside of a pair of front wheels.
The at least one driving leg is constructed from a rubber material,
elastomer or thermoplastic elastomer. The vibrating mechanism
includes a rotational motor having a housing and a counterweight
disposed within the housing and adapted to be rotated by the
rotational motor, with the housing of the rotational motor
including two flat, round sides connected by a cylindrical portion.
The vibrating mechanism comprises a rotational motor and a
counterweight adapted to be rotated by the rotational 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 with a longitudinal
centerline of the vehicle. The counterweight is situated near a
front axle of the vehicle that supports a pair of front wheels. A
rotational axis of the counterweight is substantially aligned with
a front axle of the vehicle that supports a pair of front wheels.
The motor includes a rotational axis perpendicular to a direction
in which the vehicle is adapted to move and parallel to a surface
that supports the vehicle. The motor is adapted to rotate in a
clockwise direction when viewed from the right side of the vehicle.
The vehicle includes a chassis, with the vibrating mechanism,
battery, switch, and at least one driving leg connected to the
chassis. The chassis includes holes for receiving axles for the
wheels. One or more of the holes for receiving an axle are slotted
to allow a corresponding axle to move vertically as the toy vehicle
hops. A front linkage is connected to the chassis, wherein the
linkage is attached to a pivot to allow the front wheels to move
vertically as the toy vehicle hops. The front wheels are rotatably
coupled to a front axle supported by the front linkage, with the
front linkage having a pivot parallel to the front axle and spaced
away from the front axle. The front axle engages a slot adapted to
limit vertical movement of the front axle. A longitudinal offset
between a leg tip and a leg base of the at least one driving leg
and a vertical offset between the leg tip and the leg base of the
at least one driving leg form at least a twenty-five degree angle
relative to a vertical plane orthogonal to a longitudinal dimension
of the vehicle. The longitudinal offset between the leg tip and the
leg base of the at least one driving leg and the vertical offset
between the leg tip and the leg base of the at least one driving
leg form an angle relative to a vertical plane orthogonal to a
longitudinal dimension of the vehicle of approximately forty
degrees. A circumferential surface of at least one of the plurality
of wheels is tapered smaller away from an outside edge of the
wheel. A switch is adapted to be actuated by a magnet adjacent to
the vehicle. The vehicle replicates a production vehicle and has
dimensions of smaller than 1:75 scale of the production vehicle.
The vehicle has a length of less than 2 inches and a width of less
than 1 inch. The plurality of wheels include front wheels and back
wheels, with the vibrating mechanism situated longitudinally
between the front wheels and the back wheels. The vehicle includes
a rear axle adapted to engage the back wheels and the battery is
situated longitudinally over the rear axle. The battery is situated
toward the back of the vehicle relative to the vibrating mechanism.
The battery is situated longitudinally between the front wheels and
the back wheels.
[0015] In general, another aspect of the subject matter described
in this specification can be embodied in a vehicle or other
apparatus that includes a battery; a plurality of wheels, wherein
at least one wheel is adapted to contact and roll on a surface; a
vibrating mechanism connected to the battery; and a plurality of
bristles. Vibration caused by the vibrating mechanism causes the
plurality of bristles to move the vehicle across the surface.
[0016] These and other embodiments can each optionally include one
or more of the following features. The vibrating mechanism includes
a motor and a counterweight adapted to be oscillated by the motor.
The vibrating mechanism comprises a rotational motor having a
housing and a counterweight disposed within the housing and adapted
to be rotated by the rotational motor, with the housing of the
rotational motor including two flat, round sides connected by a
cylindrical portion. The vibrating mechanism comprises a rotational
motor and a counterweight adapted to be rotated by the rotational
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 with a
longitudinal centerline of the vehicle. The counterweight is
situated near a front axle of the vehicle that supports a pair of
front wheels. A rotational axis of the counterweight is
substantially aligned with a front axle of the vehicle that
supports a pair of front wheels. The vibrating mechanism comprises
a rotational motor having a rotational axis perpendicular to a
direction in which the vehicle is adapted to move and parallel to a
surface that supports the vehicle. The motor is adapted to rotate
in a clockwise direction when viewed from the right side of the
vehicle. The vehicle includes a chassis, with the vibrating
mechanism, battery, and switch connected to the chassis. The
chassis includes holes for receiving axles for the wheels. One or
more of the holes for receiving an axle are slotted to allow a
corresponding axle to move vertically as the toy vehicle moves
vertically. A front linkage is connected to the chassis, wherein
the front linkage is attached to a pivot to allow wheels coupled to
the front linkage to move vertically as the toy vehicle moves
vertically. The front wheels are rotatably coupled to a front axle
supported by the front linkage, with the front linkage having a
pivot parallel to the front axle and spaced away from the front
axle. The front axle engages a slot adapted to allow vertical
movement of the front axle. A circumferential surface of at least
one of the plurality of wheels is tapered smaller away from an
outside edge of the wheel. A switch adapted to be actuated by a
magnet adjacent to the vehicle.
[0017] In general, another aspect of the subject matter described
in this specification can be embodied in a vehicle or other
apparatus that includes a motor adapted to induce motion of the
autonomous vehicle; a battery; a switch adapted to connect the
battery to the motor or disconnect the battery from the motor based
on a signal in a vicinity of the vehicle; and a plurality of
wheels.
[0018] These and other embodiments can 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 comprises a contact adapted to engage the
touch sensor. A circumferential surface of at least one of the
plurality of wheels is tapered smaller away from an outside edge of
the wheel. The vehicle includes a chassis, with the motor, battery,
and switch connected to the chassis and wherein the chassis
includes holes for receiving axles for the wheels, with one or more
of the holes for receiving an axle being slotted to allow a
corresponding axle to move vertically as the toy vehicle hops.
[0019] In general, another aspect of the subject matter described
in this specification can be embodied 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
component with at least one other track component, wherein each of
the components include at least one lane and the intersection
component includes a magnet selectively moveable between at least a
first location adjacent to a first lane and second location
defining one of a retracted position or a second location adjacent
to a second lane.
[0020] These and other embodiments can each optionally include one
or more of the following features. The magnet is adapted to actuate
a switch included in a toy vehicle as the toy vehicle moves on 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.
[0021] In general, another aspect of the subject matter described
in this specification can be embodied in a track system for a toy
vehicle that includes one or more straight track components having
side walls and a plurality of lanes defined by a dashed raised
centerline adapted to cause vehicles traveling down one of the
lanes to tend to stay within the lane.
[0022] These and other embodiments can each optionally include one
or more of the following features. One or more curved track
components include side walls and a substantially continuous raised
centerline adapted to cause vehicles traveling down one of the
lanes to tend to stay within the lane as the vehicles move through
the curve, wherein each of the straight track components include
connectors adapted to interconnect the track component with at
least one other track component. The dashed raised centerline and
the substantially continuous raised centerline are defined by an
upward slope situated at least at an edge of the lane. The dashed
raised centerline and the substantially continuous raised
centerline are defined by a vertical protrusion having
substantially vertical sides at an edge of the lane.
[0023] In general, another aspect of the subject matter described
in this specification can be embodied in a track system for a toy
vehicle that includes an attachment for a track component, wherein
the track component includes one or more lanes and is adapted to
interconnect with one or more other track components and the
attachment includes a signal generating mechanism adapted to
selectively generate a signal in a vicinity of a lane of the track
component adjacent to the attachment and the signal is adapted to
actuate a switch in a vehicle located in the lane, wherein
actuation of the switch is adapted to cause power from a battery in
the vehicle to be removed from a motor in the vehicle.
[0024] These and other embodiments can each optionally include one
or more of the following features. The signal generating mechanism
includes a magnet selectively moveable between at least a first
location adjacent to a first lane and second location defining a
retracted position, with the magnet being adapted to interact with
a switch in the vehicle when the magnet is in the first location to
cause power from the battery to be removed from the motor. The
signal generating mechanism selectively generates an optical signal
adapted to interact with an optical sensor in the vehicle when the
vehicle is in a first lane adjacent to the signal generating
mechanism to cause power from the battery to be removed from the
motor. The signal generating 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
generating mechanism to cause power from the battery to be removed
from the motor.
[0025] In general, another aspect of the subject matter described
in this specification can be embodied in a track system for a toy
vehicle that includes an attachment for a track component, wherein
the track component includes one or more lanes and is adapted to
interconnect with one or more other track components and the
attachment is adapted to selectively, depending on a position of a
switch included in the attachment, activate a manual switch in the
vehicle when the vehicle is in a first lane adjacent to the
attachment to cause power from the battery to be removed from the
motor.
[0026] In general, another aspect of the subject matter described
in this specification can be embodied in a track system for a toy
vehicle that includes a track component including one or more lanes
for autonomous vehicles and one or more parking spaces for the
vehicles, wherein the track component is adapted to interconnect
with one or more other track components and the track component
includes a magnet adjacent to each of the one or more parking
spaces, with the magnet being adapted to interact with a switch in
the vehicle when the vehicle is in a corresponding parking space to
cause power from the battery to be removed from the motor.
[0027] These and other embodiments can each optionally include one
or more of the following features. Each of the one or more parking
spaces further comprises at least one sidewall and a lower profile
ridge separating the parking space from a lane of the track
component.
[0028] The details of one or more embodiments of the subject matter
described in this specification are set forth in the accompanying
drawings and the description below. Other features, aspects, and
advantages of the subject matter will become apparent from the
description, the drawings, and the claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0029] FIG. 1 is a side view of an example wheeled vehicle
device.
[0030] FIG. 2A is a bottom view of the example wheeled vehicle
device.
[0031] FIG. 2B is a close-up side view of a portion of a device
chassis depicting a vertical slot that allows a front axle to move
up and down as the device hops.
[0032] FIGS. 3A and 3B depict two alternative rotational vibration
motors that can be used to induce vibration of a wheeled vehicle
device.
[0033] FIG. 4 is a side view of an alternative wheeled vehicle
device.
[0034] FIG. 5 is a bottom view of the alternative wheeled vehicle
device of FIG. 4.
[0035] FIG. 6 depicts a bottom view of an example chassis assembly
for a vibration-driven wheeled vehicle.
[0036] FIG. 7 is a bottom perspective view of a vibration-driven
wheeled vehicle.
[0037] FIG. 8 depicts an embodiment of a suspension bar
assembly.
[0038] FIGS. 9A-9B depict a capped end of a suspension bar adapted
to hold a wheel on an axle.
[0039] FIG. 10 depicts an alternative embodiment of a suspension
bar assembly.
[0040] FIG. 11 depicts an embodiment of wheels.
[0041] FIG. 12 depicts a side view of a vibration-driven
device.
[0042] FIG. 13 depicts an alternative embodiment of a
vibration-driven device.
[0043] FIG. 14 is an example track system.
[0044] FIG. 15 depicts an example intersection component that
includes stop features.
[0045] FIG. 16 depicts an alternative stop component that
facilitates stopping vehicles.
[0046] FIGS. 17 and 18 depict an example intersection component
with rotatable vertical diverters for selectively causing vehicles
to turn.
[0047] FIG. 19 depicts an alternative vertical diverter that can be
manually moved back and forth between a straight configuration and
a turn-inducing configuration.
[0048] FIG. 20 depicts a cross-sectional view of a track lane that
includes a groove between the sidewalls.
[0049] FIG. 21 depicts a cross-sectional view of a track lane that
includes a raised feature between the sidewalls.
[0050] FIG. 22 is an end view of a track section.
[0051] FIG. 23 is an end view of an alternative track section.
[0052] FIG. 24 is a perspective view of a straight track
section.
[0053] FIG. 25 is a perspective view of a curved track section.
[0054] FIG. 26 depicts an example of a vehicle on a track section
having a modular attachment.
[0055] FIG. 27 depicts a track section with a main track section
and a stop sign attachment.
[0056] FIG. 28 is a perspective view of a track section with a main
track section and a toll booth attachment.
[0057] FIG. 29 is a front view of the track section shown in FIG.
28.
[0058] FIG. 30 is a perspective view of an intersection track
section.
[0059] FIG. 31 is a perspective view of an alternative intersection
track section.
[0060] FIG. 32 is a perspective view of a parking lot track
section.
[0061] FIG. 33 is a flow diagram of a process for inducing movement
of a toy vehicle having a vibration drive.
[0062] Like reference numbers and designations in the various
drawings indicate like elements.
DETAILED DESCRIPTION
[0063] Small autonomous devices, or vibration-powered vehicles, can
be designed to move across a surface, e.g., a floor, table, or
other relatively smooth and/or flat surface. A miniature device
(e.g., made to resemble a small-scale car) can be adapted to move
autonomously and turn in response to external forces (e.g., by
being guided by a sidewall of a track). In addition, when the
device collides with object (e.g., a wall or another vehicle), the
device can be constructed to deflect in a relatively random manner.
In general, the devices include a chassis, multiple wheels, one or
more driving legs or driving bristles, and a vibrating mechanism
(e.g., a motor or spring-loaded mechanical winding mechanism
rotating an eccentric load, a motor or other mechanism adapted to
induce oscillation of a counterweight or other arrangement of
components adapted to rapidly alter the center of mass of the
device). As a result of vibration induced by the vibrating
mechanism, the one or more driving legs can propel the miniature
device in a forward direction as the driving leg or legs contacts a
support surface.
[0064] Movement of the miniature device can be induced by the
motion of a rotational motor inside of, or attached to, the device,
in combination with a rotating weight with a center of mass that is
offset relative to the rotational axis of the motor. The rotational
movement 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's), although higher or lower rpm values can be used.
Alternatively, the vibration mechanism can operate to induce
vibration in a non-rotational manner. As an example, the device can
use the many types of vibration mechanisms that exists in many
pagers and cell phones that, when in vibrate mode, cause the pager
or cell phone to vibrate. The vibration induced by the vibration
mechanism can cause the device to move (e.g., by rolling on the
wheels) across the surface (e.g., the floor) using one or more legs
or bristles (e.g., groups of bristles) that are configured to
alternately flex (in a particular direction based on contact with
the surface) and return to the original position as the vibration
causes the device to move up and down.
[0065] Various features can be incorporated into the miniature
devices. For example, various implementations of the devices can
include features (e.g., shape of the leg or legs, number of legs,
frictional characteristics of the leg tips, relative stiffness or
flexibility of the legs, resiliency of the legs, relative location
of the rotating counterweight with respect to the legs, etc.) for
facilitating efficient transfer of vibrations to forward motion.
The speed and direction of the device's movement can depend on many
factors, including the rotational speed of the motor, the size of
the offset weight attached to the motor, the power supply, the
characteristics (e.g., size, orientation, shape, material,
resiliency, frictional characteristics, etc.) of the one or more
driving legs attached to the chassis of the device, the properties
of the surface on which the device operates, the overall weight of
the device, the natural oscillatory frequency of the device or the
driving legs, and so on. The components of the device can be
positioned to maintain a relatively low center of gravity (or
center of mass) to discourage tipping (e.g., based on the lateral
distance between the leg tips).
[0066] FIG. 1 is a side view of an example wheeled vehicle device
100. FIG. 2A is a bottom view of the example 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
rotational vibration motor 115 (in this example, a coin or pancake
vibration motor with an internal eccentric weight or load, although
other types of vibrating mechanisms are possible) and a battery
power supply 120. Wires 125 connect the battery 120 to the motor
115 via a switching mechanism 130 that includes an external sliding
switch 135 for manually turning the device 100 on and off. The
switching mechanism, in some implementations as further described
below, can include a reed switch adapted to disconnect (or connect)
the battery 120 from the motor 115 in the presence of a magnetic
field sufficiently in the vicinity of the device 100 to actuate the
reed switch (even when the sliding switch 135 is in an on
position). Other types of switching mechanisms can also be used,
such as an optical sensor that can be actuated in the presence of a
selectively generated optical signal, a radio signal that can be
actuated in the presence of a selectively generated radio signal,
or a touch sensor that can be actuated in the presence of a
selectively moveable contact. Attached to the chassis 105 is a
driving leg 140. In this example, a single driving leg 140 located
toward the front longitudinal end of the device 100 is depicted.
The driving leg 140 is also located at or near the middle of the
lateral dimension of the device 100. In some embodiments, more than
one driving leg 140 can be used, and the one or more driving legs
can be positioned anywhere along the longitudinal dimension (e.g.,
near the middle or rear end of the device 100) and can be spaced
laterally (e.g., near the lateral edges of the device 100). Each
pair of wheels 110a, 110b is rotatably attached to the chassis 105
by a corresponding axle 145a, 145b, although in some embodiments
each wheel 110 can 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
driving leg 140 is also adapted to contact the support surface 150.
In general, the driving leg 140 is attached to the chassis 105
farther toward the front of the device than the leg tip that
contacts the support surface 150 and is sufficient long and
sufficiently stiff to support at least some of the weight of the
device 100. At the same time, the driving leg 140 is sufficiently
flexible to bend as the rotational motor induces vibration of the
device 100. In some embodiments, the wheels 110a are generally held
off of the support surface 150 by the driving leg 140. At least in
this situation, the pair of front wheels 110a do not necessarily
rotate on the corresponding axle 145 and can be fixedly attached to
the device 100 by a rod that mimics an axle or through some other
connection.
[0067] In operation, when the switch 130 is turned on, the
rotational motor 115 induces vibration by rotating 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 rotational axis of the eccentric load
is perpendicular to the direction of motion and parallel to the
support surface 150. This orientation can minimize or eliminate
lateral forces that can be present in other orientations of the
motor 115, which in turn can help the device 100 tend to move in a
straight direction. In addition, centering the motor 115 laterally
can minimize or eliminate torque that can further facilitate
movement in a straight direction. The rotational motor 115 can also
be positioned in the longitudinal dimension between the front and
rear axles 145a, 145b.
[0068] The vibration of the device 100 causes the driving leg 140
to propel the device 100 in a forward direction. In particular, the
rotation of the eccentric load induces upward and downward forces
(i.e., forces directed away from and toward the support surface
150). The downward force induced by the rotation of the eccentric
load causes the driving leg 140 to compress and bend, and a
resiliency of the leg along with the upward force induced by
rotation of the eccentric load causes the device 100 to hop. The
repeated compression, bending of the leg, and hopping causes the
device 100 to move in a forward direction. In some cases, the hop
is sufficient to cause the driving leg 140 to leave the support
surface, while in other cases, the hop does not cause the driving
leg 140 to leave the support surface but is sufficient to reduce
friction between the driving leg 140 and the support surface. By
orienting the motor 115 such that the radial motor rotation
direction is clockwise when facing the right side of the device
100, a forward component of the motor force further tends to push
the car forward when the driving leg 140 is off the support surface
150, and a backward component of the motor force is minimized when
the driving leg 140 is in contact with the support surface and
acting as a brake against backward movement. The battery 120 can
also be situated toward the rear of the device 100 (e.g., above but
close to the rear axle 145b), which can facilitate hopping of the
front end by reducing the rotational moment of inertia about 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 can include a vertical slot
(as indicated at 155) that allows the front axle 145a (and thus the
front wheels 110a) to move up and down as the device 100 hops,
which allows the front wheels 110a to maintain contact with the
support surface 150 for at least a greater percentage of the time,
thereby facilitating a tendency to move in a straight direction and
also further reducing the rotational moment of inertia about the
rear axle 145b as the front of the device 100 hops.
[0069] FIG. 2B is a close-up side view of a portion 160 of the
chassis 105 depicting a vertical slot 165 that allows the front
axle 145a to move up and down as the device 100 hops. As indicated
at 170, the axle 145a is free to slide up and down the slot 165,
while being restricted within the slot from movement fore or
aft.
[0070] Although not shown in FIGS. 1 and 2A, the device 100 can
include a housing or cover (e.g., that resembles a vehicle). Such a
housing can conceal the driving components (e.g., the motor 115,
battery 120, wires 125, and switch mechanism 130). In some
embodiments, the housing can be removable (e.g., using tabs that
snap onto the chassis 105) and thus can allow interchangeable
housings to be used. The device 110 can, for example, replicate a
production vehicle and can have dimensions of smaller than 1:75
scale of the production vehicle (e.g., as a result of the compact
drive system). The device 100 can, for example, have a length of
less than 2 inches and a width of less than 1 inch. In some
embodiments, the chassis 105 can include multiple front and/or rear
axle holes at different fore and aft locations to allow moving the
axles and supporting different wheelbases (e.g., for different
housings). Longer wheelbases can also further increase the tendency
to move in a straight direction.
[0071] Movement of the device can also be influenced by the
geometry of the driving leg 140 (or legs). For example, a
longitudinal offset between the leg tip (i.e., the end of the leg
that touches the surface 150) and the leg base (i.e., the end of
the leg that attaches to the device housing) of the driving leg(s)
induces movement in a forward direction as the device vibrates.
Including some curvature, at least in the driving legs, can further
facilitate forward motion as the legs tend to bend, moving the
device forward, when vibrations force the device downward and then
spring back to a straighter configuration as the vibrations force
the device upward (e.g., resulting in hopping completely or
partially off the surface, such that the leg tips move forward
above or slide forward across the surface 150). Speed can also be
increased by altering an angle of the driving leg(s) 140 with
respect to the surface 150 such that the leg(s) 140 tend to cause
less hop and a greater forward push. In particular, increasing the
longitudinal offset between the leg tip and the leg base (without
increasing the length of the leg) can increase speed. For example,
the longitudinal offset between the leg tip and the leg base can be
approximately equal to a vertical offset between the leg tip and
the leg base (i.e., the legs are angled back at approximately
ninety degrees), although in a typical embodiment the legs are
angle back at least ten degrees (e.g., fifteen degrees) and
generally more than about twenty five degrees (e.g., approximately
forty degrees). Lower angles (i.e., closer to vertical will tend to
cause the device to hop more, while higher angles tend to cause the
device to move faster.
[0072] The ability of the driving leg(s) 140 to induce forward
motion can result in part from the ability of the device to vibrate
vertically on the resilient legs (e.g., using a rubber material or
other elastomer, using flexible plastic, or using bristles). The
properties of the driving leg(s) 140, including the position of the
leg base relative to the leg tip, resiliency of the leg(s) 140,
amount of curvature, angle of the leg relative to a support
surface, and coefficient of friction (at least for the leg tip that
contacts the support surface 150), can contribute to the tendency
of the driving leg(s) 140 to generate forward movement and the
speed in which the device 100 tends to move. Using wheels 110 with
a circumferential surface having a sufficient coefficient of
friction (e.g., rubber or other elastomer) can also reduce a
tendency to drift laterally. In some cases, however, at least some
lateral drifting may be desirable (e.g., for turning away from
obstacles and/or turning along a side wall or other guide that may
be intended to cause turning of the device 100). Accordingly,
wheels 110 having a relatively low coefficient of friction (e.g.,
wheels constructed from a relatively hard plastic) can be used.
[0073] For example, the device can also be configured to facilitate
some turning when vibration induced by rotation of the eccentric
load induces hopping. The hopping can further induce a vertical
acceleration (e.g., away from the surface 110) and a forward
acceleration (e.g., generally toward the direction of forward
movement of the device 100). During each hop, the driving leg(s)
140 and the front wheels 110a can hop (with or without completely
leaving the support surface 150) to allow the device 100 to turn
toward one side or the other at least in response to an external
lateral force (e.g., from a side wall). The tendency to facilitate
turning can be increased if the geometry and/or configuration of
the legs is set to increase the amplitude of hopping.
[0074] The geometry of the driving leg (s) 140 can contribute to
the way in which the device 100 moves. Aspects of leg geometry
include: locating the leg base in front of the leg tip, curvature
of the legs, deflection properties of the legs, to name a few
examples. Generally, depending on the position of the leg tip
relative to the leg base, the device 100 can experience different
behaviors, including the speed of the device 100. For example, if
the leg tip is nearly directly below the leg base when the device
100 is positioned on a support surface 150, movement of the device
100 that is caused by vibration can be limited or precluded. This
is because there is little or no slope to the line in space that
connects the leg tip and the leg base. In other words, there is no
"lean" in the leg 140 between the leg tip and the leg base.
However, if the leg tip is positioned behind the leg base (e.g.,
farther from the front end of the device 100), then the device 100
can move faster, as the slope or lean of the driving leg(s) 140 is
optimized, providing a leg geometry that is more conducive to
movement.
[0075] The legs can be either straight or curved. Leg geometry can
be defined and implemented based on ratios of various leg
measurements, including leg length, diameter, and radius of
curvature. One ratio that can be used is the ratio of the radius of
curvature of the leg 140 to the leg's length. As just one example,
if the leg's radius of curvature is 49.14 mm and the leg's length
is 10.276 mm, then the ratio is 4.78. In another example, if the
leg's radius of curvature is 2.0 inches and the leg's length is 0.4
inches, then the ratio is 5.0. Other leg 140 lengths and radii of
curvature can be used, such as to produce a ratio of the radius of
curvature to the leg's length that leads to suitable movement of
the device 100. In general, the ratio of the radius of curvature to
the leg's length can be in the range of 2.5 to 20.0. The radius of
curvature can be approximately consistent from the leg base to the
leg tip. This approximate consistent curvature can include some
variation, however. For example, some taper angle in the leg(s) may
be required during manufacturing of the device (e.g., to allow
removal from a mold). Such a taper angle may introduce slight
variations in the overall curvature that generally do not prevent
the radius of curvature from being approximately consistent from
the leg base to the leg tip.
[0076] Another ratio that can be used to characterize the device
100 is a ratio that relates leg length to leg diameter or thickness
(e.g., as measured in the center of the leg or as measured based on
an average leg diameter throughout the length of the leg and/or
about the circumference of the leg). For example, the length of the
leg(s) 140 can be in the range of 0.2 inches to 0.8 inches (e.g.,
0.405 inches) and can be proportional to (e.g., 5.25 times) the
leg's thickness in the range of 0.03 to 0.15 inch (e.g., 0.077
inch). Stated another way, leg(s) 140 can be about 15% to 25% as
thick as they are long, although greater or lesser thicknesses
(e.g., in the range of 5% to 60% of leg length) can be used. Leg
lengths and thicknesses can further depend on the overall size of
the device 100. In general, at least one driving leg can have a
ratio of the leg length to the leg diameter in the range of 2.0 to
20.0 (i.e., in the range of 5% to 50% of leg length).
[0077] As discussed above, the driving leg(s) 140 can be curved.
Because the leg(s) 140 are typically made from a flexible material,
the curvature of the leg(s) 140 can contribute to the forward
motion of the device 100. Curving the leg can accentuate the
forward motion of the device 100 by increasing the amount that the
leg compresses relative to a straight leg. This increased
compression can also increase vehicle hopping. The driving leg(s)
140 can also have at least some degree of taper from the leg base
to the leg tip.
[0078] The leg(s) 140 are generally constructed of rubber or other
flexible but resilient material (e.g.,
polystyrene-butadiene-styrene with a durometer near 55, based on
the Shore A scale, or in the range of 45-75, based on the Shore A
scale). Thus, the legs tend to deflect when a force is applied.
Generally, the leg(s) 140 include a sufficient stiffness and
resiliency to facilitate consistent forward movement as the device
vibrates. The selection of leg materials can have an effect on how
the device 100 moves. For example, the type of material used and
its degree of resiliency can affect the amount of bounce in the
leg(s) 140 that is caused by vibration. As a result, depending on
the material's stiffness (among other factors, including positions
of leg tips relative to leg bases), the speed of the device 100 can
change. In general, the use of stiffer materials in the leg(s) 140
can result in more bounce, while more flexible materials can absorb
some of the energy caused by vibration, which can tend to decrease
the speed of the device 100.
[0079] FIGS. 3A and 3B depict two alternative rotational vibration
motors that can be used to induce vibration of a wheeled vehicle
device. FIG. 3A shows a rotational motor 305 adapted to rotate an
external eccentric load 310 about a rotational axis 315 when power
is applied to the motor 305. FIG. 3B shows a rotational motor 320
(e.g., as included in the device 100 of FIG. 1) that rotates an
internal eccentric load, contained within a housing of the motor
320, about a rotational axis. In either case, the motor 305, 320 is
coupled to and rotates a counterweight, or eccentric load, that has
a CG that is off axis relative to the rotational axis 315 of the
motor 310, 320.
[0080] FIG. 4 is a side view of an alternative wheeled vehicle
device 400. FIG. 5 is a bottom view of the alternative wheeled
vehicle device 400 of FIG. 4. The alternative wheeled vehicle
device 400 includes two driving legs 440 located, in this example
behind the front wheels 410a. The device 400 further includes a
battery 420 and a rotational motor 415 that are located
longitudinally between the front wheels 410a and rear wheels 410b.
In addition, the device 400 includes an eccentric load 460 external
to the motor 415 (e.g., the motor 305 and external eccentric load
310 of FIG. 3A), which may generated greater lateral forces than
exist with the device 100 of FIG. 1. Such lateral forces may tend
to cause the device to move in less of a straight line and have
more erratic movement. Other alternative implementations are also
possible. For example, the rotational motor may have a rotational
axis that is perpendicular to the direction of movement of the
device and/or the rotational motor and battery can be positioned
side-by-side.
[0081] 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 (e.g., snapped
together using connectors) in virtually any configuration. The
track system can include walls or other protrusions for guiding the
vehicle along straight and curved paths. In addition, some
protrusions or guide members can be selectively positioned to cause
different behaviors (e.g., turning or going straight). The track
system can also include built-in magnets that can be used to
actuate a reed switch in the vehicles to cause the vehicles to
stop. Such magnets can be selectively moved closer to or farther
away from vehicles that are adjacent to (e.g., above or beside) the
magnet to selectively actuate or de-actuate such reed switches. The
components of the track system can include one or more lanes.
[0082] FIG. 6 depicts a bottom perspective view of an example
chassis assembly 600 for a vibration-driven wheeled vehicle. The
assembly 600 includes a chassis 605 that is adapted to support a
rotational motor 615 and includes a battery housing 620 (e.g.,
where the battery can be inserted and removed from a top side). The
rotational motor 615 can rotate a multi-toothed pinion 630 that
engages a crown gear 635, which, in turn, rotates a counterweight
625. The counterweight 625 can, for example, be integrally formed
with the crown gear 635. Two driving legs 640 are attached to the
chassis on either side of the counterweight 625. The chassis 605
further includes axle holes 645a and 645b for the front and rear
axles, respectively. In the depicted example chassis assembly 600,
the counterweight 625 rotates on the same axis as the front axle
hole 645a and thus may rotate on an axle that also supports the
wheels, although the wheels may not be driven by rotation of the
counterweight 625. In some embodiments, the center of mass of the
eccentric part of the counterweight is substantially aligned with
the centerline of the vehicle to facilitate straighter tracking
(i.e., movement in a generally straight direction). In addition,
the center of mass of the counterweight can also be substantially
aligned with the centerline of the vehicle to avoid creating a
tendency to turn toward one side or the other.
[0083] FIG. 7 is a bottom perspective view of a vibration-driven
wheeled vehicle 700. The vehicle 700 can be built on the chassis
assembly 600 shown in FIG. 6 and includes front wheels 710a and
back wheels 710b, an undercarriage cover 750, and a switch 735 that
projects through the undercarriage cover 750. A suspension bar 755
supports the front axle 745a and pivots about an axis defined by a
front portion of the suspension bar at 760, which allows the axle
745a to move up and down in a slot 765. This up and down movement
allows the front wheels 710a to maintain contact with a support
surface as the driving legs 740 tend to cause the vehicle 700 to
hop up and down. A front portion 770 of the undercarriage cover 750
limits pivoting of the suspension bar 755 at a lower end.
[0084] FIG. 8 depicts an embodiment of a suspension bar assembly
800. The assembly 800 includes a suspension bar 805, a portion of
which serves as an axle (as indicated at 815) for a pair of wheels
810.
[0085] FIGS. 9A-9B depict a capped end 900 of a suspension bar
adapted to hold a wheel (e.g., the wheels 810 of FIG. 8) on the
axle.
[0086] FIG. 10 depicts an alternative embodiment of a suspension
bar assembly 1000. The assembly 1000 includes a suspension bar
1005, a portion of which serves as an axle (as indicated at 1015)
for a pair of wheels 1010. In this embodiment, however, the axle
portion 1015 of the suspension bar 1005 engages an internal portion
of an axle bearing 1020, which fits within a bearing hole of the
wheels 1010.
[0087] FIG. 11 depicts an embodiment of wheels 1110. The wheels 110
include an internally directed taper (as indicated at 1115), which
can reduce a tendency of the vibration-driven vehicle to jump
across low obstacles.
[0088] FIG. 12 depicts a side view of a vibration-driven device
1200. The device 1200, as depicted, shows two alternative
configurations of the driving leg(s), including a more upright
driving leg 1210 and a more angled or tilted driving leg 1205. By
using a more tilted driving leg 1205, the speed of forward motion
can be optimized and the amount of hopping can be reduced. In
addition, FIG. 12 depicts relative positions of the leg tips and
the wheel travel. In general, the legs 1205 or 1210 should touch a
supporting surface some distance (as indicated at 1215, e.g., 0.5
mm) below a highest position of the front wheels, and the total
travel (as indicated at 1220) between the highest position of the
front wheels (as shown) and a lowest position of the front wheels
(as indicated at 1225) should be sufficient so that the wheels
maintain contact with a supporting surface even when the device
1200 hops as a result of a vibrating mechanism interacting with the
driving legs 1205 or 1210. Generally, for a given material, as the
leg gets longer, it needs to be less tilted to achieve maximum
speed.
[0089] FIG. 13 depicts an alternative embodiment of a
vibration-driven device 1300. The device 1300 includes one or more
longer driving legs 1310 that are connected to the chassis 1305
above an upper edge of the wheel. Such longer driving legs 1310 can
help increase speed. Moreover, placing the rotational motor 1315
above the front axle also facilitates increased speed relative to a
motor that is placed farther back in the device.
[0090] FIG. 14 is an example track system 1400. The track system
1400 can include multiple track components, including straight
track components 1405, curved track components 1410, three-way
intersection components 1415, and four-way intersection components
1420. Each track component can include one, two, or more lanes
1425, which can include sidewalls for at least some portions to
direct vehicles 1430 that traverse the lanes 1425. Three-way
intersection components 1415 can include redirection features 1435
built into a side wall that cause vehicles 1430 to turn (e.g.,
left) when vehicles 1430 enter the intersection and reach the side
wall by directing the vehicles 1430 along a curved protrusion in
the sidewall (as indicated by arrow 1436). Intersection components
1415 and 1420 can include stop features 1440 that cause vehicles to
selectively stop at the intersection. For example, the stop
features 1440 can use magnets 1445 that can be rotated under the
lanes or raised and lowered under the lanes to selectively actuate
reed switches in the vehicles 1430. The position of the magnets
1445 can be controlled using control knobs or buttons 1450. The
intersection components 1415 and 1420 can further include vertical
diverter protrusions 1455 that can be selectively rotated using
control knobs or levers 1460 to cause the vehicles 1430 to turn or
continue straight. In addition, the track system can include
specialized components 1465 that can be used to divert vehicles
1430 into one or more secondary lanes (e.g., a pit stop or gas
station type of area), which can also include magnets that stop the
vehicles 1430 until a button 1470 is pushed to release the vehicle
1430 from the magnetic field (i.e., by moving the magnets farther
beneath the secondary lanes).
[0091] FIG. 15 depicts an example intersection component 1500 that
includes stop features. The stop features can be implemented using
a rotatable wheel 1505 hidden underneath the intersection component
1500 that includes magnets 1510 attached to the rotatable wheel
1505. The rotatable wheel 1505 can be rotated using a knob 1515
that indirectly rotates the rotatable wheel 1505 (e.g., using a
gear mechanism) to selectively position the magnets 1510 below
certain lanes (i.e., to cause vehicles in those lanes to stop) or
away from the lanes (i.e., to allow vehicles to freely pass). Thus,
the magnets 1510 can rotate about an axis perpendicular to a
surface of the track component 1500 on which the vehicles move.
Detents can be used to cause the rotatable wheel to tend toward
certain positions. In some implementations, the knob 1515 may allow
a user to push the rotatable wheel 1505 down and lock it far enough
below the intersection component 1500 so that the magnets 1510 do
not impede vehicles in any direction.
[0092] FIG. 16 depicts an alternative stop component 1600 that
facilitates stopping vehicles. The alternative stop component 1600
includes a knob 1605 for turning a magnet 1610 connecting to the
knob 1605 by an arm 1615. Using the knob 1605, the magnet 1610 can
be selectively positioned beneath the lane (to stop vehicles) or
away from the lane (to allow vehicles to pass).
[0093] FIGS. 17 and 18 depict an example intersection component
1700 with rotatable vertical diverters 1705 for selectively causing
vehicles to turn. The rotatable vertical diverters 1705 can be
connected to a rotatable wheel 1710 that can be turned using a knob
1715 that is indirectly coupled to the rotatable wheel using a gear
mechanism 1720. By rotating the knob 1715, the vertical diverters
1705 can be moved between a position that is in substantially the
same plane as an adjacent lane wall 1725 and a plane that is at an
oblique angle to the adjacent lane wall 1725. Detents can be used
to cause the vertical diverters 1705 to tend toward desired
positions (e.g., to facilitate vehicles traveling straight or to
cause a vehicle to turn toward a lane having a different
direction.
[0094] FIG. 19 depicts an alternative vertical diverter 1900 that
can be manually moved back and forth between a straight
configuration and a turn-inducing configuration. Again, detents can
be used to cause the vertical diverter 1900 to tend toward two or
more desired positions.
[0095] In some implementations, a track system can include inclines
or declines. By including surface features on the track that at
least substantially prevent one or more driving legs from
contacting the surface, it is possible to allow a vibration-driven
wheeled device to freely roll (e.g., downhill).
[0096] FIG. 20 depicts a cross-sectional view of a track lane 2000
that includes a groove 2005 between the sidewalls 2010 for
preventing a driving leg of a vibration-driven wheeled device
(e.g., the device 100 of FIG. 1) from contacting the track surface
2015. The groove 2005 can be used on a downhill track section, for
example, to allow the device to roll freely. The groove 2005 can
also be used in short segments to cause vehicles to slow.
[0097] As an alternative, a flat surface can be used instead of a
groove 2005 to allow the device to roll freely, if a shorter
driving leg of the device is used. In such a case, portions of the
track can include a raised feature that engages with the driving
leg to enable the driving leg to propel the device.
[0098] FIG. 21 depicts a cross-sectional view of a track lane 2100
that includes a raised feature 2105 between the sidewalls 2110 for
engaging a driving leg of a vibration-driven wheeled device (e.g.,
the device 100 of FIG. 1) while the wheels roll on the track
surface 2115. The raised feature 2105 can be used on sections of
the track where vehicles can propel themselves using one or more
driving legs.
[0099] FIG. 22 is an end view of a track section 2200. The track
section 2200 includes lanes 2205 defined by sidewalls 2210 and a
centerline bump 2215. The centerline bump 2215 can be used to
manage lane usage of vehicles traversing the track. The centerline
bump 2215 can be high enough to tend to keep vehicles in a
particular lane but low enough to allow the vehicles to cross into
the other lane occasionally (e.g., if collisions occur or if the
vehicle approaches the centerline bump 2215 at a sufficient
angle).
[0100] FIG. 23 is an end view of an alternative track section 2300.
The track section 2300 includes lanes 2305 defined by sidewalls
2310 and an elevated centerline 2315. Thus, each lane 2305 slopes
from the elevated centerline 2315 toward the respective sidewall
2310. The elevated centerline 2315 can be used to manage lane usage
of vehicles traversing the track. The elevated centerline 2315 can
be high enough to tend to keep vehicles in a particular lane but
low enough to allow the vehicles to cross into the other lane in at
least some situations.
[0101] FIG. 24 is a perspective view of a straight track section
2400. The track section includes a dash pattern of centerline bumps
2415 between the lanes 2405. The dash pattern tends to keep
vehicles in their lanes on straight track sections but provides
some ability to occasionally cross into the other lane. Moreover,
the dash pattern serves the purpose of allowing vehicles to more
easily complete lane changes (or return to the original lane) if
the vehicles do begin to cross the centerline. In particular, the
wheels on one side and/or the rear wheels of the vehicle can more
easily slip through the gaps in the dashed pattern to allow the
vehicle to complete a lane change.
[0102] FIG. 25 is a perspective view of a curved track section
2500. The curved track section 2500 includes a solid centerline
bump 2515 between the lanes 2505. The solid centerline bump 2515
provides better lane management, particularly on the inside lane of
the turn to prevent vehicles from crossing into the other lane. In
some embodiments, a substantially continuous centerline bump 2515
can be used, for example, to facilitate allowing vehicles that have
partially crossed the centerline to complete the crossing or to
move back into the original lane,
[0103] FIG. 26 is an example of a vehicle 2605 on a track section
2600. The track section 2600 includes a main track section 2610 and
a modular attachment 2615 that clips onto a groove (as indicated at
2620) in the main track section 2610. The modular attachment can
include a magnet 2625 adjacent to a sidewall 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
power to a driving mechanism (e.g., rotational motor 115 of FIG. 1)
to be cut off, which can in turn cause the vehicle 2605 to stop.
The magnet 2625 can be rotated or moved (e.g., by a manual or
automated lever or switch) away from the position shown in FIG. 26
(e.g., upward or to one side) such that the magnetic field no
longer interacts with the reed switch, which can allow power to the
driving mechanism to be reapplied, which can in turn cause the
vehicle 2605 to begin moving again.
[0104] FIG. 27 depicts a track section 2700 with a main track
section 2710 and a stop sign attachment 2715. As a vehicle with a
reed switch moves near the stop sign attachment 2715, a magnet 2725
can cause the normally closed reed switch in the vehicle to open,
thereby turning off the motor in the vehicle, causing the vehicle
to stop. The magnet 2725 can be coupled to a base of a stop sign
2740. By rotating the stop sign 2740 down as indicated at 2745 or
about an axis of the stop sign pole as indicated at 2750, the
magnet 2725 can be moved in a manner that allows the reed switch to
close again, allowing the motor to turn on and the vehicle to begin
moving. Moving the stop sign 2740 back to the position shown in the
figure can once again cause vehicles that approach the stop sign
attachment 2715 to once again stop. As an alternative, the magnet
2725 can be positioned underneath the track section 2710, and
rotation or movement of the stop sign 2740 can cause the magnet to
slide or rotate away from the track section 2710.
[0105] FIG. 28 is a perspective view of a track section 2800 with a
main track section 2810 and a toll booth attachment 2815. FIG. 29
is a front view of the track section 2800. The toll booth
attachment 2815 can include a rotatable toll gate 2840, which can
be attached to a magnet similar to the magnet 2727 of FIG. 27. The
toll gate 2840 can be rotated back and forth (e.g., by rotating the
tollbooth sign on the roof of the tollbooth) between a closed
position as shown in FIG. 28, in which the magnet causes a reed
switch in the vehicle 2805 to open and cut off power to the vehicle
motor, and an open position as shown in FIG. 29, in which the reed
switch is permitted to close and reapply power to the vehicle
motor. The toll booth attachment 2815 and the toll gate 2840 can
thus operate in a manner similar to the stop sign attachment 2715
and the stop sign 2740 of FIG. 27. The attachments 2715 and 2815
(or other similar attachments that include magnets) or other
attachments (e.g., without magnets) can be designed to attach to
straight track sections (e.g., as shown in FIG. 24) or curved track
sections (e.g., as shown in FIG. 25) and can be selectively
attached anywhere along an overall track assembly (e.g., track
system 1400 of FIG. 14).
[0106] FIG. 30 is a perspective view of an intersection track
section 3000. The intersection track section 3000 includes slots
3005 that can be used to attach modular attachments (e.g.,
attachments 2715 or 2815) that can be used to control traffic. For
example, stop sign attachments 2715 can be placed at four different
locations around the intersection track section 3000 to enable a
user to selectively cause vehicles to stop at the intersection.
[0107] FIG. 31 is a perspective view of an alternative intersection
track section 3100. The alternative intersection track section 3100
includes a rotatable disk 3110 beneath the track surface that
includes magnets 3125, which can be selectively positioned
underneath lanes of the intersection to cause vehicles to stop at
the intersection. The rotatable disk 3110 can be rotated manually
using a lever 3120. The magnets 3125 can be positioned such that
vehicles are stopped at two opposite sides of the intersection
while cross traffic is permitted to move through the intersection
without stopping, while rotating the disk 3110 can cause the cross
traffic to stop while allowing the two opposite sides to move
through the intersection. In some embodiments, the magnets (whether
attached to a rotating disk, a stop sign attachment, a toll booth
attachment or some other attachment) can be moved using an
automated control system.
[0108] FIG. 32 is a perspective view of a parking lot track section
3200. Magnets positioned below parking spaces 3205 can turn off the
motors of the vehicles in the parking spaces 3205 until the vehicle
is either pushed into the traffic lanes 3215 or the magnet is moved
using a manual or automated control mechanism. A ridge 3210 can
further help keep passing vehicles from veering into and
interfering with vehicles in the parking spaces 3205.
[0109] FIG. 33 is a flow diagram of a process 3300 for inducing
movement of a toy vehicle having a vibration drive. Vibration of a
toy vehicle is induced (at 3305) to cause the toy vehicle to move
using one or more driving appendages contacting a first surface of
a track and wheels contacting the track. The toy vehicle is allowed
to roll on the wheels (at 3310) based on a second surface of the
track being adapted to preclude contact with the one or more
driving appendages. The vehicle is stopped (at 3315) using a magnet
connected to the track. The magnet, for example, causes actuation
of a reed switch that connects a battery to a motor of the vehicle,
which stops vibration of the toy vehicle.
[0110] Thus, particular embodiments of the subject matter have been
described. Other embodiments are within the scope of the following
claims.
* * * * *