WO2012012883A1

WO2012012883A1 - Improved remote controlled toy

Info

Publication number: WO2012012883A1
Application number: PCT/CA2011/000867
Authority: WO
Inventors: Albert Wai Tai Chan; Ka Hung Ko, (William); Tung-Tsai Liao
Original assignee: Thinking Technology
Priority date: 2010-07-30
Filing date: 2011-07-28
Publication date: 2012-02-02

Abstract

A motorized toy vehicle controlled with a wireless remote via a digital control signal embedded in an Infrared beam collimated together with a beam of visible light. The user points the remote control, generating a visible target spot on the floor and causing the toy vehicle to set in motion and track the target spot using the on board microcontroller unit and Infrared sensors. Through a digital Infrared communication and tracking protocol, multiple toy vehicles and/or stationary objects can be wirelessly controlled and can intelligently interact with each other.

Description

IMPROVED REMOTE CONTROLLED TOY

FIELD OF THE INVENTION

[0001] The present invention relates to motorized and remote controlled toys that have an extended range of self-executing movements and that interact intelligently with each other.

BACKGROUND OF THE INVENTION

[0002] Remotely controlled battery powered toy vehicles are generally well known. Also well known are many means of remote control for such motorized toys, both radio wave and infrared based. The most common remote controls emit instructions of acceleration or direction in the direction of the motorized toy. These instructions are interpreted by the vehicle, according to its own instantaneous position. The user must take this position into account, however, to be able to control the toy. As a result, these typical controls are not very acceptable for a young child. Turning right is intuitive when the vehicle moves away from the child, but when the vehicle moves towards the child, the controls are reversed.

[0003] US Patent # 7, 147,535 describes a partial solution to this problem, enabling a young child to remotely control a motorized toy in a simple and intuitive manner. The remote control emits a collimated optical IR beam which projects a spot on the floor. The spot generated by this control indicates the area that the motorized toy must move towards. The vehicle detects, moves towards and reaches the spot projected on the ground from the remote control; if the child simply moves the spot of light to a succession of new positions to define the desired trajectory, the toy will follow such trajectory.

[0004] The inventive motorized toy taught by US Patent # 7, 147,535 suffers from the inherent limitation that all its sensors are oriented towards the ground surface and the toy will only follow the reflected light or IR light from a spot projected on the ground. Using such a remote control method for precise maneuvering in tight spots (such as when bringing the motorized toy inside a narrowly defined parking spot or confined garage) remains a cumbersome operation, beyond the typical dexterity of a young child. Furthermore, the analogue approach to control taught by US Patent # 7,147,535 has other major limitations such as: absence of fine positional control (especially distance control), non-recognition of individual identification codes for multiple toys, impossibility of independently controlling more than one toy with one remote, increased likelihood of interference from other identical toys being played nearby at the same time, lack of real interactivity between the controlled toy and other toys, etc.

SUMMARY OF THE INVENTION

[0005] It is a major aspect of the present invention to provide an improvement to prior art remote controls, by overcoming the above disadvantages.

[0006] It is a further aspect of the present invention to provide a wireless remote controlled electronic toy possessing a range of self-executing movements that the user initiates and the toy completes autonomously.

[0007] It is a further aspect of the present invention to provide a wireless remote controlled electronic toy with a digital control signal. Compared to the analog systems known in the prior art, a digital control signal offers superior range, higher quality of reception, reduced power consumption, less sensitivity to interference, the ability to implement unique ID codes and discrete control channels, the ability to further process the signal on board the controlled unit and effect further downstream control, etc.

[0008] It is a further aspect of the present invention to provide wireless remote controlled electronic toys which can themselves control or interact with other motorized toys by digital signals.

[0009] According to a preferred embodiment, the invention includes a wireless remote controller and at least one controlled object. The wireless remote controller includes a micro control unit (MCU) that generates a digital ID coded signal which is then sent to an infrared (IR) transmitter. A beam of visible light is also projected from the wireless remote controller, in the same general direction of the emitted IR beam. The controlled objects can each include three or more receivers (optoelectrical sensors) capable of receiving digital ID coded infrared signals emitted from the wireless remote controller or from IR emitters placed on other compatible toys. The sensors transmit the received digital signal to one or more micro control units (MCUs) located on-board the controlled object. The on-board MCUs can optionally control one or more battery operated electrical motors or other propulsion means. The on-board MCUs can also generate digital ID coded signals which are sent to one or more on-board infrared (IR) transmitters which can emit control signals for reception by other compatible toys. The combination of on-board receivers, MCUs and transmitters on the controlled toys means that multiple such toys can control each other or otherwise interact, handshake and communicate among themselves via digital ID coded signals, without the need for each of them to receive a control signal from the wireless remote controller.

[0010] In a further preferred embodiment, the invention includes a wireless remote controller, a non-motorized controlled object and at least one motorized controlled object. The non-motorized object may act as a base, parking spot, or as a general return location where the motorized object will return and come to a stop. In other

embodiments, the non-motorized object may not have its own on-board MCU, sensors or transmitters, and may simply act as or be fitted with a multidirectional reflecting surface to reflect any signal shone on it from the wireless remote controller. A user only needs to point the control beam from the wireless remote controller at the non-motorized object to cause any motorized object within the reflection range to receive such control signal as if it were emitted from the non-motorized toy. In other embodiments, the non- motorized object can have its own on-board MCUs, sensors or transmitters, and thus it can fully interact, handshake and communicate with the remote controller and with other controlled objects via digital ID coded signals.

[0011] In a further preferred embodiment, the invention includes a wireless remote controller and two or more motorized controlled objects, each of which may have its own on-board MCU, sensors or transmitters. In association with unique digital signal IDs assigned to each motorized object, various control hierarchies can be set up among these multiple objects. For example, one controlled object may be set up to act as the master object and be controlled by the wireless remote controller, while the remaining, lower ranking objects are controlled by the signals emitted from the master object or from an object that precedes them in the control hierarchy, and only if positioned within the emitting range thereof.

BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Other aspects and advantages of the invention will become apparent upon reading the detailed description and upon referring to the drawings in which:

[0013] Figure 1 shows a simplified drawing of a preferred embodiment of the invention, comprising the Wireless Remote Controller (1 ) and two controlled motorized toys (Moving Objects), one of which is the Master Moving Object (2), while the second is the Slave Moving Object (3). In Figure 1 , each Moving Object has:

• a chassis (4), two front wheels (5) and two rear wheels (6); • four Infrared Receivers (7), one placed on each of the four corners of the chassis;

• two infrared transmitters (8) that emit downstream control signals from their position at the rear of the chassis;

• one on-board micro control unit MCU (9);

• two battery operated motors, shown integrated within their respective gear boxes (10), each motor driving one rear wheel.

[0014] Figure 2 shows a partially exploded view of the handheld Wireless Remote Controller in a preferred embodiment, consisting of:

• a trigger (1 1 );

• an Infra-Red emitter (12);

• a visible light source (LED emitter) (13);

• a Double Convex Collimation Lens (14) that converges the beam of the LED and the Infra-Red Emitter Lights, to project a collimated beam;

• a micro control unit (MCU) (15); and

• various buttons (16) for other optional features.

[0015] Figure 3 shows a schematic of the IR communication system of a preferred embodiment of the invention, displaying the transmission, reception, modulation and digitization scheme.

[0016] Figure 4 shows the schematic of an alternative embodiment with three IR Receiver Modules judiciously placed on a Moving Object so as to allow the MCU to compute the relative angular position of an IR transmitter (IR-Tx) (17) from the relative intensities of the signals received by the three IR Receiver Modules which are at different distances from IR-Tx.

[0017] Figure 5 shows the schematic of another preferred embodiment, with four IR Receiver Modules placed in the four corners of a Moving Object so as to allow the MCU to compute the relative angular position of an IR transmitter (IR-Tx) (17) from the relative intensities of the signals received by the four IR Receiver Modules which are at different distances from IR-Tx.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS

[0018] Before explaining the present invention in detail, it is to be understood that the invention is not limited to the preferred embodiments contained herein. The invention is capable of other embodiments and of being practiced or carried out in a variety of ways. It is to be understood that the phraseology and terminology employed herein are for the purpose of description and not of limitation. For example, infrared optical signals and sensors are mentioned herein, however, any other suitable form of wireless data transmission and reception technology (e.g. radio waves, modulated visible light, lasers, etc.) could alternatively be employed for controlling the operation of the toys.

[0019] A wireless optical remote controller is generally illustrated in Figure 2. The optical remote controller comprises at least a battery for autonomous operation, a micro control unit (MCU) (15), an IR emitter (12), a light emitter (13), a collimation lens (14) and an on/off switch (trigger) (1 1 ). The MCU generates a digital ID coded signal which is then transmitted by the IR emitter. A beam of visible light is also projected from the light emitter. The IR emitter and the light emitter are located approximately at the focal point of the collimation lens, so that their beams are concentrated into one parallel beam projecting a spot at a distance of up to several meters or more.

[0020] Generally illustrated in Figure 1 is the schematic of an exemplary embodiment with two motorized toys controlled by the remote controller described above. One is the Slave Moving Object (3) and one is the Master Moving Object (2). Each motorized toy comprises a chassis (4), two front wheels (5) and two rear wheels (6), one on-board micro control unit (MCU) (9), four IR receiving sensors (7) each located in one of the four corners of the chassis, two infrared transmitters (8) placed at the rear end of the chassis (TX 1 and TX 2) that emit downstream control IR signals, an autonomous source of energy like a battery (not shown in FIG. 1 ), and two independent electric motors (10), each one driving either a left or right rear wheel via a gearbox. Steering is preferentially achieved by driving the left and right rear wheels at different speeds.

[0021] In one example of use, a child may hold in hand the wireless remote control and press the trigger to emit a collimated optical beam which projects a spot on the floor. The spot generated by this control indicates the area that the motorized vehicle must reach. The visible light spot contains within it the beam of the digital IR signal, codified with a particular ID code. The intensity of the reflected IR signal will decrease with the distance from the spot where the beam projects on the floor.

[0022] Given its coding for a particular ID, even if this IR signal is received by the IR Receivers belonging to both the Master Moving Object and the Slave Moving Object, only the MCU of the Master Moving Object will recognize it as a proper control signal for the Master Moving Object. [0023] The MCU of the Master Moving Object will then determine the relative angular position of the target spot by computing the relative intensities of the signals received from the IR Receivers placed in the four corners of the Master Moving Object.

[0024] The MCU of the Master Moving Object will then individually actuate the two motors so as to align the Master Moving Object in a general direction towards the target spot. The MCU will then control the speed and forward movement of the Master Moving Object by continuously monitoring the strength of the IR signal received by IR Receiver 1 and 2 (placed on the front end of the Master Moving Object). Closing in to the target spot will result in a fast increase in the strength of the IR signal received by IR Receiver 1 and 2, which will cause the MCU to command a lower speed from the motors.

[0025] A decrease in the strength of the IR signal received means that the Master Moving Object is falling behind in its pursuit of the moving target spot, causing the MCU to increase the speed of the motors. A constant strength of the IR signal received means that the Master Moving Object is right on the target spot, or that the spot is out of the range of IR Receivers, or that the user is not pressing the control trigger any longer; all these situations will cause the MCU to discontinue the pursuit of the IR target spot and to optionally perform other pre-programmed steps.

[0026] Concomitant to its pursuit of the target spot, the MCU of the Master Moving Object can optionally cause its two downstream IR transmitters at the rear (Master TX 1 and Master TX 2) to emit IR control signals codified with an ID code corresponding to the Slave Moving Object. In a preferred embodiment, TX 1 has a longer range of IR emission and is responsible for transmitting the "follow-me at full speed" signal, while TX 2 has a shorter range and is responsible only for transmitting the "slow down, you are too close" signal.

[0027] It may be possible for the Slave Moving Object to be, at least initially, out of the transmitting range for both emitters Master TX 1 and Master TX 2 of the Master Moving Object. In that case, only the Master Moving Object will initially move in response to the command from the remote controller, while the Slave Moving Object will remain still.

[0028] However, when the Master Moving Object, in its pursuit of the target spot projected by the user, moves into a position that places the Slave Moving Object within the emitting range of Master TX 1 , the IR control signal codified with an ID code corresponding to the Slave Moving Object will be received by the Slave's IR Receivers, prompting the MCU of the Slave Moving Object to energize its motors to move the Slave Moving Object at full speed towards the direction from which the control signal is received. The Slave has thus been "picked up" by the Master Moving Object, and enters the "follow me" mode.

[0029] When, during the "follow me" operation, the Slave Moving Object comes too close to the rear of the Master Moving Object, the Slave's IR Receivers will enter the range of the Master's TX 2 transmitter, and will receive its "slow down, you are too close" signal. The MCU of the Slave Moving Object will then control its motors to slow down the Slave Moving Object and increase the "follow me" distance to the followed object.

[0030] By virtue of the different emitting ranges of transmitters TX 1 and TX 2 on the Master Moving Object, a properly set up motion control scheme installed in the MCU of the Slave Moving Object will maintain a tightly controlled distance between the Master and the Slave Moving Object, while in the "follow me" operation.

[0031] One possible IR communication system used in a preferred embodiment of this invention is depicted in Figure 3. The IR communication signal is generated by a transmitter unit which controls an IR LED emitter. When a forward current is applied, a typical IR LED emits an IR beam with a wavelength range of 700 nanometers to 300 micrometers, although a wavelength range of 700-950 nanometers is preferred for this invention. To reduce the interference from other light sources, the carry frequency of the IR signal is modulated, preferably using modulation frequencies of 38KHz or 50KHz. The transmitter unit can digitally encode the data within the modulated signal by employing any digital encoding scheme known in the art. Figure 3 depicts one such encoding scheme that combines (within the modulated signal) MARK regions (regions where IR emissions with carry frequency are present) with SPACE regions (regions where no current is sent to the IR LED).

[0032] With reference to the IR communication scheme depicted in Figure 3, in order to decode the digital data from the received IR signal, the MCU of the Moving Object will analyze the signal forwarded from all IR receivers and will perform the logical operation OR. The logical operation OR will return two possible results: either MARK (when at least one IR receiver module reports the receipt of a MARK signal), or SPACE (when all IR receiver module report the receipt of SPACE).

[0033] Figures 4 and 5 further show two possible schemes of deploying an optimum number of IR receiver modules to enable the MCU of a Moving Object to determine the relative angular position of the target spot by computing the relative intensities of the IR signals received. As seen in Figure 4, a minimum of three IR Receivers placed along the perimeter of a Moving Object are required to ensure that the angular position of the target spot can be computed from the relative intensities of the IR signals received. Nonetheless, the configuration shown in Figure 5, with four IR Receivers (each placed as close as possible to the four corners of the chassis), is preferably used by

embodiments of this invention.

[0034] To determine the angular position of the target spot relative to the Moving Object, the MCU of the Moving Object will count the MARK period reported by each IR receiver module; the count will represent the intensity of the IR signal received by each IR sensor module. The MCU of the Moving Object will then calculate the angular position of the target spot by comparing the individual MARK count results. Depending on the calculated angular position and on the decoded digital data, the MCU will execute various preprogrammed activities, such as tracking the target spot, "follow me", etc.

[0035] Attempts to improve this control scheme by increasing the sensitivity of the IR receiving sensors could result in sensor saturation which has a negative effect on control at close range: when all sensor modules report a maximum MARK count period, the MCU is not able to determine the angular position of the target spot relative to the Moving Object. To overcome this effect, other embodiments of this invention use a different communication protocol, whereas the IR signal transmitted from the remote controller is divided into two subsets: one is the digital data area, which is sent always at full signal strength, while the second is the RSSI area (Received Signal Strength

Indicator) which is emitted at different (lower) signal strength. This protocol enables a long range of reception for the control signals (through the combined use of high sensitivity IR receivers and encoded digital data transmitted at full signal strength) while still allowing the MCU to determine the angular position of the target spot based on different MARK count values generated by the receivers in response to the weaker signal from the RSSI area of the IR signal.

[0036] Any methods known in the art for varying the signal strength in the RSSI area can be used for this invention, such as:

- varying the current applied to the IR LED emitter;

- varying the pulse width of the carry frequency; assuming that a 50% duty cycle produces maximum signal strength, employing a smaller duty cycle will generate a less intense signal;

- shifting the carry frequency; the commercially available IR receiver modules are normally "tuned" to a certain carry frequency (achieved via internal band-pass filters that allow only the passage of a certain frequency band centered around a nominal frequency); by intentionally "drifting" the carry frequency of the modulated beam emitted from the remote controller, it is possible to avoid saturating all IR sensors.

[0037] The present invention is capable of other embodiments and of being practiced or carried out in a variety of ways. For example, there can be multiple remote controllers and multiple Slave Moving Objects, and multiple Master Moving Objects. Another possibility is for means to switch among digital ID codes on the remote controller, selecting different Moving Objects as Masters or Slaves. Another embodiment gives the Slave Moving Object the option to follow either the IR target spot projected on the floor from the remote controller, or the IR control signals emitted from the Master Moving Object. Yet another possibility is for a Non-Moving, non-motorized controlled Object (e.g. a base, garage, parking spot, or a general return post or pad) to act as a Super-Master and emit a long range multidirectional IR signal to cause all Moving Objects to retreat and stop in a predestined position.

[0038] It is similarly to be understood that the phraseology and terminology employed herein are for the purpose of description and not of limitation. For example, any toy or object or Moving Object mentioned herein can alternatively be a car, truck, hovercraft, robot, vehicle, boat, plane, helicopter, doll, animal or anthropomorphic character, etc. Alternatively, the Master Moving Object and the Slave Moving Object can each be from a different category mentioned above (e.g. a helicopter could be the Master Moving Object while a car could be the Slave Moving Object, etc.).

[0039] While the method of tracking a moving target based on the variable strength of the IR signal emitted or reflected from a beam on the target spot is used in the examples herein, any other beam tracking methods known in the art (based on light, radio waves, lasers, modulated visible light, etc.) could be used by the on-board sensors and MCUs to achieve the tracking functions described herein. Similarly, the "follow me" mode of operation between Master Moving Objects and Slave Moving Objects could be implemented by the use of fewer or more numerous transmitters and sensors on the Masters or Slaves, or by any other tracking methods known in the art.

Claims

What is claimed is:

1. A toy comprising: a remote controller having an optical emitter controlled by a control unit and configured to emit a digitally modulated optical beam containing digital identification codes, said remote controller configured with a lens of collimation that focuses said optical beam from said emitter to generate a target spot on a surface; at least one controllable moving object, having

- a plurality of optoelectronic sensors configured to receive digitally modulated optical signals containing digital identification codes;

- at least one on-board digital control unit that receives, from said plurality of optoelectronic sensors, electrical signals containing digital identification codes;

- propulsion and steering means controlled by said on-board digital control unit; wherein said on-board digital control computes distance to and angular position of said target spot relative to said controllable moving object, based on said electrical signals received from said plurality of optoelectronic sensors; and wherein said on-board digital control unit controls said propulsion and steering means so that said controllable moving object is set in motion, follows and reaches said target spot on said surface.

2. The toy according to claim 1 , wherein said controllable moving object further comprises one or more on-board downstream optical emitters controlled by said on-board digital control unit and configured to emit digitally modulated optical beams containing digital identification codes.

3. The toy according to claim 2, further comprising a controllable slave moving object having - a plurality of slave optoelectronic sensors configured to receive digitally modulated optical signals containing digital identification codes;

- at least one on-board slave digital control unit that receives, from said plurality of slave optoelectronic sensors, electrical signals containing digital identification codes;

- slave propulsion and steering means controlled by said on-board slave digital control unit; wherein said on-board slave digital control computes distance to and angular position of said downstream optical emitters relative to said controllable slave moving object, based on said electrical signals received from said plurality of slave optoelectronic sensors; and wherein said on-board slave digital control unit controls said slave propulsion and steering means so that said controllable slave moving object is set in motion, follows and maintains a constant distance to said downstream optical emitters.

4. The toy according to claim 1 , further comprising a controllable stationary object comprising a reflective surface wherein said reflective surface, when exposed to said collimated optical beam from said emitter, broadcasts a digitally modulated optical homing signal containing digital identification codes; and wherein said on-board digital control unit on said controllable moving object computes distance to and angular position of said homing signal relative to said controllable moving object, based on said electrical signals received from said plurality of optoelectronic sensors; and wherein said on-board digital control unit controls said propulsion and steering means so that said controllable moving object is set in motion towards said homing signal, reaches said controllable stationary object and stops within its close proximity.

5. The toy according to claim 1 , further comprising a controllable stationary object comprising

- a plurality of stationary optoelectronic sensors configured to receive digitally modulated optical signals containing digital identification codes;

- at least one on-board stationary digital control unit that receives, from said plurality of stationary optoelectronic sensors, electrical signals containing digital identification codes; and

- one or more stationary downstream optical emitters controlled by said stationary digital control unit and configured to emit digitally modulated optical beams containing digital identification codes; wherein exposing said plurality of stationary optoelectronic sensors to said collimated optical beam from said optical emitter causes said stationary digital control unit to control said stationary downstream optical emitters to broadcast a digitally modulated optical homing signal containing digital identification codes; and

wherein said on-board digital control unit on said controllable moving object computes distance to and angular position of said homing signal relative to said controllable moving object, based on said electrical signals received from said plurality of optoelectronic sensors; and wherein said on-board digital control unit controls said propulsion and steering means so that said controllable moving object is set in motion towards said homing signal, reaches said controllable stationary object and stops within its close proximity.

6. The toys according to claims 1 to 5, wherein a plurality of controllable moving or stationary objects communicate among themselves via digitally modulated optical signals containing digital identification codes, received via said optoelectronic sensors, transmitted via said optical emitters, and processed via said on-board digital control units.