EP1064976B1

EP1064976B1 - Crawling doll fitted with search and direction change device

Info

Publication number: EP1064976B1
Application number: EP00500112A
Authority: EP
Inventors: Jaime Ferri
Original assignee: Fabricas Agrupadas de Munecas de Onil SA
Current assignee: Fabricas Agrupadas de Munecas de Onil SA
Priority date: 1999-06-30
Filing date: 2000-06-02
Publication date: 2006-04-26
Anticipated expiration: 2020-06-02
Also published as: DE60027504D1; ES2156557A1; EP1064976A1; PT1064976E; ES2156557B1; ATE324161T1; DE60027504T2

Abstract

Incorporating search means from an infrared transmitter (6) installed in a teddy bear figure (7), the search means comprising two infrared sensors (5) located frontally on either side of a doll (1) fitted with arms (2) and legs (3) leaning on the floor in a crawling stance, and a raised head (4). The search means assesses the signal received by the sensors (5), assigning logic values according to whether the transmitter is "seen" by both sensors (1,1), not at all (0,0), or by only one of them (1,0)(0,1), thereby driving either simultaneously or excludingly two twin drive mechanisms for the limbs on either side of the doll. Said mechanisms transmit a circular motion to the lower end of the arms and a swinging motion to the legs. <IMAGE> <IMAGE>

Description

The present invention refers to a crawling doll fitted with a search and sound electronic device capable of locating a specific transmitter, in addition to elements for analyzing received data and a direction change device based on the excluding or simultaneous movement of the limbs on either side of the body.
The set of devices which constitute the invention, as described hereunder, are specially applicable to the toy industry. Particularly, the crawling doll that is the object of the invention is preferably built to simulate a small child looking for its mother, although it could likewise apply to a dog searching for its master or some other pursuing game.
Dolls which crawl and simulate the motions of a small child are well known, although the movement of the arms and, if the case may be, the legs, always derives from an electronically or mechanically stored preset sequence and the aid of rotating cams. Some crawling dolls, particularly those provided with more complex movements, simulate a child's actual crawling motion with considerable precision, although they present a drawback in that, after being observed for some time, the user perceives that the motion is repetitive, with the doll moving either in a straight line or in more or less wide circles.
Document US 5,201,683 of the same applicant describes a mechanism that incorporates two free turning wheels upon the same axis, which are simultaneously moved by the same pinion. The fact that there is a small difference in the number of cogs of each wheel causes a variation of the relative position of both wheels and of the corresponding associated cams that modify the outlet of the device. Such a device is a sort of mechanic timer that causes a sequence of different movements of the doll. However, the use of a single motor and mechanism, does not allow a change of direction of the doll during the crawling.
By contrast, the crawling doll that is the object of the present invention incorporates an electronic search, direction change and sounding device capable of locating the transmitter, assessing the data received based on time, taking a direction change decision, and executing it. In order to perform these functions, the doll is fitted with:

Volumetric detection and data assessment search means.
Direction change means.
Sound reproduction means.

The search means comprise a pair of infrared sensors located frontally on either side of the doll, capable of detecting a transmitter's infrared radiation. These sensors can detect the infrared radiation issuing from a virtual revolving cone having a relatively small opening angle centered on the cone's mounting axis which runs in a front-to-rear direction. When the infrared transmitter is positioned outside this cone, the received signal degrades or even disappears and the transmitter cannot be 'seen' by the infrared sensor. Thus, a '1' logic value is assigned when the infrared sensor sees' the transmitter and '0' when the infrared sensor 'fails to see' the transmitter on account of it being located outside the vision cone, the apex thereof being the sensor proper.
This 'seen' and 'not seen' transmitter information is subject to a digital format treatment by a preset program whereby a decision is taken as to whether the doll:

continues to crawl in a straight line,
turns to the left,
turns to the right,
executes a search sequence, combining the above elementary movements, or
stops.

The direction change means comprises two twin mechanisms acting independently on the limbs on either side of the doll, and is basically formed by a motor and a reduction gear assembly which transmits motion to the arm and leg on one side only. Thus, upon activating the motors in both mechanisms, the doll crawls along a straight line, whereas when the search system decides that the doll must turn in one direction, only the motor in the mechanism driving the arm and leg on the side opposite the direction in which the doll must turn is activated.
Finally, the sound reproduction means are fully conventional and may correspond to any of the systems described in other patent documents pertaining to this applicant, or as available in the market.
In order to complement the description set forth and help toward a better understanding of the features of this invention, a detailed description of a preferred embodiment is submitted based on a set of drawings attached to this specification which form an integral part thereof and wherein the following is represented in a merely guiding and non-limiting character:

Figure 1 shows the inventive doll with an auxiliary teddy bear which hides the infrared transmitter.
Figure 2 shows a schematic view of the doll that is the object of the invention, revealing the 'vision' cones in the infrared sensors.
Figure 3 shows a front view of the inventive doll with its head removed.
Figure 4 shows an upper view of the doll after removing the head.
Figure 5 shows a perspective view of the inventive doll with its head removed.
Figure 6 shows an upper view of the twin motor mechanisms.
Figure 7 shows a section along VII-VII' in the preceding figure.
Figure 8 shows a view of the drive mechanism seen from the right side of the doll.
Figure 9 shows a view of the drive mechanism seen from the right side of the doll.
Figure 10 shows the drive mechanism open along its central portion to reveal the two twin mechanisms corresponding to each side of the doll.
Figure 11 shows a detail of the swinging lever assembly that provides movement to the doll's head.
Figure 12 shows a front view of the drive mechanism, with the right arm detached from the mechanism.
Figure 13 shows the mechanism that provides movement to the doll's right side limbs. The doll's left side mechanism is symmetrical.
Figure 14 shows a view of the doll assembly and the auxiliary teddy bear figure.
Figure 15 shows a block diagram of the inventive doll's direction change program
Figure 16 shows a block diagram of the blind search program executed by the doll upon losing the IR signal.
Figure 17 shows a block diagram of the IR transmitter hidden in the auxiliary teddy bear.

In the above figures, the reference numerals correspond to the following parts and elements:

1. Crawling doll
2. Arms
3. Legs
4. Head
5. Infrared sensors
6. Infrared transmitter
7. Teddy bear figure
8. Motor
9. Batteries
10. Main pulley
11. Endless belt
12. Motor pulley
13. First gear
14. First pinion
15. Drive mechanism output shaft
16. Second gear
17. Second pinion
18. Lodging
19. Eccentric shaft
20. Arm shaft
21. Vertical runner
22. Side plates
23. Leg bar
24. Leg swing shaft
25. Swinging lever runner
26. Swinging lever
27. Swinging lever shaft
28. Left side plate
29. Left vertical runner
30. Right permanent contact
31. Right intermittent contact
32. Right contact shaft
33. Right contact wire
34. Left permanent contact
35. Left intermittent contact
36. Left contact shaft
37. Left contact wire

As shown in Figures 1, 2 and 3, the crawling doll (1) that is the object of the present invention is shaped in the form of a small child with arms (2) and legs (3) leaning on the floor in a crawling stance, its head (4) raised and looking to the front in a searching attitude.
The search means comprise two infrared sensors (5) located one on each side of the front end of the doll (1), enabling them to 'see' the infrared radiation from a transmitter (6) hidden inside a teddy bear figure (7) that the user may either carry or hide nearby.
As shown in Figure 2, these sensors (5) can 'see' the infrared radiation issued by the transmitter (6) installed inside a 'vision' cone oriented forwards in a front-to-rear direction, its apex located in each sensor (5). Thus, if we cut both 'vision' cones along a plane perpendicular to their rotation axes, the plane is divided into four zones:

Front vision zone defined by the transmitter (6) being 'seen' by both sensors (5), consequently assigned the logic value (1,1).
Right side vision zone defined by the fact that only the right sensor 'sees' the transmitter (6), consequently assigned the logic value (0,1).
Left side vision zone defined by the fact that only the left sensor 'sees' the transmitter (6), consequently assigned the logic value (1,0).
'No vision' zone formed by the remaining plane not comprised in the above zones, assigned the logic value (0,0).

The logic signals thus described are entered in a conventional electronic microprocessor which analyzes their temporary sequence according to a pre-established program (see Figures 15 and 16), whereby various decisions may be taken:

If the logic value is (1,1), it continues along a straight line.
If the logic value changes from (1,1) to (1,0), it assumes that the transmitter has moved towards the left, so that the doll must turn to the left by moving the right arm and leg.
If the logic value changes from (1,1) to (0,1), it assumes that the transmitter has moved towards the right, so that the doll must turn to the right by moving the left arm and leg.
If any of the two preceding sequences is rapidly followed by a logic value (0,0), the search device infers that the transmitter (6) is 'hidden', and thus rapidly changes in a left or right direction. If such is the case, a blind search sequence is activated (see Figure 16) whereby, once the doll has turned in the appropriate direction and after 8 seconds failing to 'see' the transmitter, a groping movement is initiated involving 8-second periods advancing in a straight line between 8-second alternate right and left turns.
If the logic value suddenly changes from (1,1) to (0,0) the doll stops, inferring that it has reached the transmitter.

An 8-second timer is fitted in prevention of the doll entering an endless loop in which the movements are repeated indefinitely.
Figure 16 shows the block diagram of the search program that is executed when the IR signal from transmitter (6) is totally lost. The use of an 8-second period for each movement allows the same timer to be utilized for the portion of the program depicted in the block diagram in Figure 15. When the doll performs an unfruitful search sequence for a period of more than 2 minutes, the motor timer is reset, all motion and sound stops and the doll goes into a 'sleeping' state.
Finally, Figure 17 shows a transmitter (6) operation block diagram that involves a simple doubly stable switch which activates/deactivates the transmitter (6) IR signal.
The crawling doll (1) that is the object of the present invention further presents a mechanism allowing it to move the arms and legs under the orders of a search mechanism. According to Figures 6 and 10, as can be seen, this direction change device is formed by a drive mechanism that includes the following on either side of the doll:

A small battery-fed electric motor (8) installed on the doll's (1) back.
A motor (8) speed reduction gear assembly comprising a main pulley (10) driven by an elastic endless belt (11) which in turn is driven by the motor (8) via a small motor pulley (12) integral to a shaft, whereby motion is transmitted to a first gear (13) through a first pinion (14) integral to said main pulley (10). Finally, the output shaft (15) is driven by a second gear (16) driven by a second pinion (17) integral to said first gear (13). See Figures 6 and 7.
A mechanism for transforming the rotation movement of the output shaft (15) in the previously described drive mechanism, providing a circular movement to the end of arm (2). To achieve this, the arm (2) presents a lodging (18) means for the rotational sliding of an integral eccentric shaft (19) which eccentrically extends the drive mechanism's output shaft (15). In turn, an arm shaft (20) integral to the arm (2) itself is compulsorily guided in a vertical direction by means of a vertical runner (21) integral to the drive mechanism's side plate (22). See Figures 12 and 13. A crankshaft-type mechanism is formed, the drive mechanism output shaft (15) acting as a rotation shaft, the eccentric shaft (19) acting as a circular motion crank, and the arm shaft (20) acting as a crank via its vertical attachment to the eccentric shaft (19), so that the lower end of arm (2) leaning on the floor is provided with a circular movement. See Figure 13. Thus, the arm tilts forwards, comes down to lean on the floor, tilts backwards, pushes the doll and lifts away from the floor to begin a new rotation.
A very simple leg (3) movement mechanism consisting in a bar (23) which pivots over the eccentric shaft (19) and holds the leg (3) eccentrically in respect to the swinging lever (24) in the leg (3) and transmits a forwards and backwards swinging and rotating motion to the leg.
A head (4) rotation mechanism which causes the head to move right or left, although only when the right side of the doll is in motion. To achieve this, the substantially long arm shaft (20) on the doll's right side arm (2) runs along vertical runner (21) and a further runner (25) which presents a swinging lever (26) capable of rotating around a shaft (27). When the arm shaft (20) runs up and down vertically, obliged by the vertical runner (21), the swinging lever (26) swings backwards and forwards. See Figures 11 and 12. This movement is transmitted directly to the head (4), causing it to turn to the right or to the left. See Figures 3 and 4, showing the tip of the swinging lever (26) after removing the head (4) of the doll (1).

From an electrical point of view, the circuit corresponds to a conventional diagram well known to any expert on the subject. The single specific feature of the invention refers to the end of run switches shown in Figures 8 and 9. As shown in Figure 8, the right contact wire (33) normally rests on the right intermittent contact (31) and leans permanently on the right permanent contact (30). The right contact wire (33) is spirally wound over the right contact shaft (32), acquiring a spring effect. During movement of the doll's (1) right limbs, the arm shaft (20) passing through the right vertical runner (21) exerts upward pressure on the right contact wire (33), which ceases to make contact with the right intermittent contact (31) for a short part of the cycle, when the right arm is in its uppermost position. This right intermittent contact just described is arranged parallel to the outlet of the search device described in Figures 15 and 16, so that, when the search device issues a stop order to the right hand motor, the motor continues to be fed through the right permanent contact (30), the right contact wire (33) and the right intermittent contact (31), so that said right hand motor will not effectively stop until the arm has reached its uppermost position, interrupting all contact between the right contact wire (33) and the right intermittent contact (31). Thus, the right arm is always made to stop at its uppermost position.
The end of run switch on the left hand side, shown in Figure 9, works in similar fashion, although in this case it is evident that the cycle's continuity is interrupted when the left contact wire (37) moves downwards and away from the left intermittent contact (35). This movement is caused by the support of a left hand protrusion similar to the one described for the right arm, guided by the left vertical runner (29). The left contact wire (37) is spirally wound over the left contact shaft (36), achieving a spring effect. As a result of this, the left arm always stops at its lowermost position. This ensures that, when the doll (1) is activated and provided it 'sees' the IR signal via the sensors (5), the motors in the mechanisms on either side of the doll are simultaneously mobilized, whereby the doll places one arm in its uppermost position and the other arm in its lowermost position to make it crawl instead of making it ride, which would occur if both arms were in the same position. No synchronizing device is provided for the movements coming from both sides of the doll in view that it is apparent that the differences in speed resulting from the manufacturing tolerances in both mechanisms will have no effect on a proper crawling motion. In any event, each time the doll stops, an automatic adjustment of the position of the arms takes place, driven by the end of run switches.

Claims

Crawling doll comprising the body of a doll (1) with arms (2) and legs (3) leaning on the floor in a crawling attitude, its head (4) raised and looking to the front in a searching stance and a conventional sound reproduction means, characteristic in that it comprises;
change of direction means based on the simultaneous or excluding movements of two twin mechanisms which provide motion to the limbs on either side of the doll (1),

infrared radiation search means, comprising two infrared sensors (5) located frontally on either side of the doll (1), in a manner that, when both infrared sensors, in use, (5) 'see' the signal of an external infrared transmitter (6), the doll (1) activates the mechanisms on both sides, whereas when only one sensor (5) 'sees' the infrared signal, only the mechanism on the side opposite the direction in which the doll (1) is required to turn is activated, and
Crawling doll according to claim 1, characteristic in that each of the twin mechanisms which drive the limbs on either side of the doll comprises;
a drive mechanism which provides rotation to an output shaft (15),

an eccentric shaft (19) mounted on the output shaft (15) and inserted in a lodging (18) in a corresponding arm (2),

an arm shaft (20) in the form of a protrusion on the corresponding arm (2) which lodges in sliding fashion in a vertical runner (21) integral to one of the side plates (22) (28) in the drive mechanism,

a bar (23) providing a joint attachment to the eccentric shaft (19) and the corresponding leg (3), so that, when the output shaft (15) in the drive mechanism rotates, the lower end of arm (2) runs along a circumference trajectory that comes down along the front part and goes up along the rear part while the corresponding leg (3) makes a front-to-rear swinging motion, and vice versa.
Crawling doll according to claim 2, characteristic in that each drive mechanism on either side comprises a speed reduction gear assembly for corresponding motor (8) that includes a main pulley (10) driven by an elastic endless belt (11) which in turn is driven by the motor (8) via a small motor pulley (12) integral to the motor shaft, the movement being transmitted to a first gear (13) through a first pinion (14) integral to said main pulley (10), and the output shaft (15) being driven through a second gear (16) through a second pinion (17) integral to said first gear (13).
Crawling doll according to claim 2, characteristic in that the drive mechanism on the right hand side of the doll (1) is fitted with an end of run switch comprising a right permanent contact (30), a right contact wire (33) and a right intermittent contact (31) arranged in such a manner that when the doll's (1) right arm is in its uppermost position, contact is interrupted between the right contact wire (33) and the right intermittent contact (31), whereas the drive mechanism in the left hand side of the doll (1) is fitted with an end of run switch comprising a left permanent contact (34), a left contact wire (37) and a left intermittent contact (35) arranged in such a manner that when the doll's (1) left arm is in its lowermost position, contact is interrupted between the left contact wire (37) and the left intermittent contact (35).
Crawling doll according to claim 2, characteristic in that the arm shaft (20) on the right hand side of the doll (1) traverses the vertical runner (21) that guides it and is inserted in a runner (25), which presents a swinging lever (26) capable of rotating in respect to a shaft (27), so that, when the arm shaft (20) is driven vertically up and down when pressed by the vertical runner (21), the swinging lever (26) swings backwards and forwards, this movement being transmitted to the head (4) and causing it to turn right or left.