AU2016101054A4 - System for Controlling RC toy car using Laser Gun controller - Google Patents

Abstract

Abstract A system and method for remote controlling a toy vehicle using Laser Gun are provided. Laser Gun is a handheld controller which contains two or multiple lasers placed in parallel with different colours. Laser Gun actuates RC car to follow the pointed multicolour laser spots target, which is monitored using a HD fish-eye lens camera mounted on the RC vehicle. Processor unit is also mounted on the remote vehicle, which uses Visual Detection Software to detect pre-defined multicolour laser spots pattern and Proportional Steering Control Algorithm to move the vehicle towards detected target. 1( 4r 9 Figure 1

Description

System for Controlling RC toy car using Laser Gun controller

Field of the Invention

The present invention relates to remote control toy vehicle, which is controlled using Laser Controller (Laser Gun) to direct toy vehicle to a pointed location. In particular, the present invention relates to a method and device for directing the movement of toy vehicles using laser.

Background of the Invention A variety of remote controlled (RC) vehicles are well known in toy industry. Such toys are typically controlled using wireless radio communications. Mostly in these toys dedicated handheld controller is used that broadcasts 27 MHz or 2.4 GHz radio signals to a radio receiver part of the toy which then implements the commands. The drawback of such controllers is that player should use two hands, needs to be trained and skilled player and should focus concentration on the control device to efficiently drive the remote vehicle to a destination.

Laser controlled or laser directed devices also known in different applications, including military, industrial, medical etc. These standard laser controlled methods are not easily applicable for controlling RC cars. For toy RC cars low power laser is used as a target pointer which, in comparison with radio control method, gives more visual feedback to player and better feeling of controlling RC vehicle without having certain skills. Using one laser as a target pointer has some disadvantage because laser beam is generally detected via infrared sensors installed on the toy vehicle, it is not reliable and other sources of infrared light may be detected too and it thereby causing incorrect or wrong direction control.

To solve above mentioned issues, the present invention uses two or multiple lasers with different colour/wavelength to point the target, and for target detection uses visual detection via a camera mounted on a toy vehicle, for example. This method will avoid wrong detection of same frequency (same colour) spots/light sources, makes detection more reliable and toy vehicle’s control easier, because all that players need is to direct Laser Gun towards desired destination where they want RC Car to move.

Summary of the Invention

The present invention provides a device for remotely controlling mobile articles comprising: (i) a remotely controlled article; (ii) two or multiple laser pointers with different colours to actuate article’s movement to a pointed destination; (iii) a controller unit comprising Lasers which are mounted in a Laser Gun and emit laser beams which are substantially parallel to each other; (iv) High Definition (HD) camera and processor module, mounted on the article; (v) HD camera with appropriate Visual Detection Software (VDS) to detect the different colour Laser Dots when user directs the Laser Gun lasers towards Camera Detection Area (CDA).

Preferably, the article is selected from the group consisting of toys, aerial drones, humanoid robots. Preferably, the toy is a remotely controlled toy car.

Preferably, the HD camera is mounted high from the chassis of the car, fish eye lens is mounted on the camera to increase CDA, and the camera is placed close to the back side of the RC car.

Preferably, the car further comprises two or more on-board cameras to comprise all 360 degree CDA around RC car.

In another aspect, the present invention provides a method of remotely controlling an article comprising: (i) pointing two or multiple laser devices with different colour to actuate article’s movement to a pointed destination; (ii) directing Laser Gun toward desired destination ; and (iii) detecting the different colour Laser Dots when user directs the Laser Gun lasers towards Camera Detection Area (CDA) by means of a HD camera with appropriate Visual Detection Software (VDS). (iv) An On-board Processor unit mounted in the article which controls article movement to a computed destination.

Brief Description of the drawings

Fig.1 schematically illustrates RC Car controlled with Laser Gun in accordance with the invention.

Fig.2 is an illustration of Laser Gun design (a) and possible laser configurations (b). Fig.3 is an illustration RC Car design with on-board camera.

Fig.4 illustrates sample of a frame from RC Car camera including Laser spots.

Fig.5 is the algorithm block-diagram for Target Detection.

Fig.6 is the algorithm block-diagram for Driving RC Car.

Detailed Description of the invention

The present invention provides toy vehicle remote control method by using two or multiple laser pointers with different colour to actuate vehicle’s movement to the pointed destination. Lasers are mounted in controller named Laser Gun and emit laser beams which are all parallel to each other as much as possible. Player or user can direct Laser Gun toward desired destination where he wants RC Car to move. RC Car on-board controller with hardware comprises High Definition (HD) camera and processor module, mounted on RC Car. When the user directs Laser Gun lasers towards Camera Detection Area (CDA), HD camera with appropriate Visual Detection Software (VDS) detects these different colour Laser Dots located close to each other within CDA.

Running visual detection software is based on colour recognition algorithm. Software determines specific pattern of two or multiple colour laser dots on his view and recognises them as a target. Using two or more different colour lasers allows making this pattern very specific. For example, in case of using one colour laser there is a high probability that RC Car will be misled by false same colour objects located in CDA. Using multiple colour parallel lasers minimises wrong detected targets and more easily finds the true user defined target. Software detects multicolour specific pattern within CDA. All other objects, which have same colours but not matching preprogrammed pattern, are ignored thus eliminating false detection.

As depicted in Fig.1, player (7) uses bicolour Laser Gun (1) to highlight target (6). RC toy vehicle (2) with on-board camera (3) and processor module (4) runs software which is programmed to find target colour objects within CDA. In this case, preprogrammed pattern is two laser highlighted colour spots (5). One is Green laser spot, other one is Red laser spot. Red and Green laser beams (8) form parallel red and green spots, which reflection (9) detects via HD camera. In Camera Detection Area could be different objects in red or green colours which could also be seen as a target. For comparison, both true highlighted target (6) and false target (10) are shown in Fig. 1. All targets which do not match pre-programmed specific pattern are ignored by VDS. Spots must be located close to each other to be recognized as a true target. Red colour object (10) within CDA is identified as a false target, because it does not have green colour spot around it.

The Laser Gun that player uses to control RC toy simplifies aiming to the target in comparison with other remote control car controllers like joysticks or transmitters with different buttons and switches. This makes control easy for user or player and there is no need to be trained on how to use several buttons and to coordinate finger movements on a transmitter or controller. In Fig.2a Laser Gun is shown with two lasers (1): Red and Green. They are mounted inside of the Laser Gun and turn on or off using just one Turn On/Off switch (4). Lasers are powered from batteries that could be easy replaced by opening bottom cover (5). Power switch (2) is used to enable Laser Gun operation. Power LED (3) shows that device is ready to work.

As an example two low power lasers are shown in Laser Gun in Fig.2a and Fig.2b (6). Furthermore, the Laser Gun multiple lasers combination can be placed as shown in the Fig.2b. For example, Laser Gun may contain three lasers: either two green and one red lasers (9) or two red and one green lasers; or four lasers: two green and two red lasers (7). Visual Detection Software must be pre-programmed to detect certain pattern that is reflected in the Camera Detection Area. Furthermore, multiple lasers with two or more colours can be used. For example three different lasers with different colours like Red, Green and Blue/Purple (8) can be mounted inside the Laser Gun as shown in Fig 2b. The main requirement is that lasers should be placed strictly in parallel, that their beams also must be parallel. As a result, Laser spots do not mix or change initial designed pattern. Therefore pattern Target will be easily detected.

Figure 3 shows RC car design. Main common RC car features remain in modified design like independent suspensions both for front wheels (3) and rear wheels (4), anti-slippery rubber tires (5), proportional control, etc. These features allow RC Car to behave very stable and reliable during game play. Batteries and Processor unit are mounted on the car chassis (1) under the car body. HD Camera (2) is also mounted on the car body. For Laser Gun controlled RC Car design few additional features are required. Firstly, to make Camera Detection Area (CDA) as big as possible an HD camera is mounted high from the chassis. Secondly, fish eye lens is mounted on the camera to increase CDA, so the cameras viewing angle close to 170 degree. Third feature is placing camera close to the back side of the RC car. This allows to observe areas in the left and right sides of RC Car wheels close to its body. So these areas also are included in Fish Eye Camera CDA. With this design a player can control RC Car by pointing Laser spots on right or left side of wheels which will lead RC Car turning appropriately to the right or to the left.

Further improvement of this remote toy car design may include two or more on-board cameras to comprise all 360 degree CDA around RC car. For example, besides main HD Camera that searches laser dots within RC car front area, another camera can be mounted backward to search laser dots within RC car rear area.

In Fig.4 is presented sample of a frame from RC Car camera. Green and Red laser spots (1) are within CDA and are located to the left from the front side. There is a red ball object (3) within CDA too, which is also detected by camera. VDS check preprogrammed pattern, e.g. two colour spots close to each other, one of them should be red and another one should be green. False target red ball detection ignored, because it doesn’t match software pre-programmed pattern. Processor unit in toy vehicle analyses information given from VDS and obtains coordinates of target. It also generates control signals to front wheels (5) as well as back wheels to start movement of vehicle (4) towards detected target (2).

Algorithm consists two main parts. First one is responsible for Target Detection which is represented in Fig.5 and second one takes care for Driving RC Car shown in Fig.6.

Target detection based on colour visual recognition technique. After starting up processor receive some frame data from Camera module. After reception of first frame, software immediately starts scanning all pixels for defined colour. In this case first defined colour is red. If colour value of each pixel is within specified colour range for red then algorithm adds up value to integral density for that colour. This is kind of map of concentration for red colour. During scanning and filling colour density map information, algorithm also compares integral density with specified limit for red laser spot detection. If limit is achieved then it is assumed that it is a "candidate" for Red Laser spot and its coordinate saved. Then algorithm starts to scan around detected Red Laser spot candidate coordinates. It checks with the same concept like for red colour for matching secondary defined colour, which is in this case green. At the end of scanning area around detected Red spot candidate, Green colour integral density is calculated and immediately checked to achieve specified limit for Green laser spot. If green colour is detected then initial Red colour candidate is recognized as a Target. Otherwise it is skipped and algorithm continues to try finding other Red laser candidates.

At the end of scanning current frame either detected Target X, Y coordinates or No Target value (value = 0) are saved in a buffer file. RC Car driving program reads one frame data from saved buffer (Fig.6). If according to that data in buffer Laser spot's X,Y coordinates are defined, algorithm sends command to run rear wheels. This will provide traction for RC Car. Then software checks Steering wheel current position. If Laser Spot X coordinate value is bigger than steering wheel position scaled value then software defines that vehicle must turn to the right. The difference between Laser Spot X coordinate value and steering wheel position scaled value defines front wheel turning angle. If difference is very small than defined limit for minimum turn angle of front wheels, then vehicle moves forward. Proportional steering control makes vehicle movement smoothly and accurate. Similarly vehicle turns left, if Laser Spot X coordinate value is less than steering wheel current position scaled value.

After this command RC Driving algorithm returns to its beginning and reads next frame data written in a buffer. If buffer data for Laser spot coordinates equal to 0 (Target is not detected for current frame) than driving command to rear traction wheels immediately removed.

In summary, it is very easy for the users to direct RC car to any desired direction, because they just watch RC Car movement and point movement trajectory via Laser Gun.

This invention is also applicable to other remotely controllable mobile devices such as aerial drones, full size vehicles, planes, weapons, humanoid robots, industrial or medical robots. Invention also could be used as controller in video games.

While considerable emphasis has been placed herein on the specific features of the preferred embodiment, it will be appreciated that many additional features can be added and that many changes can be made in the preferred embodiment without departing from the principles of the invention. These and other changes in the preferred embodiment of the invention will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the invention and not as a limitation.

Claims (5)

1. Claims The claims defining the invention are as follows: Claim 1 A device for remotely controlling mobile articles comprising: (i) a remotely controlled article; (ii) two or multiple laser pointers with different colours to actuate article’s movement to a pointed destination; (iii) a controller unit comprising Lasers which are mounted in a Laser Gun and emit laser beams which are substantially parallel to each other; (iv) High Definition (HD) camera and processor module, mounted on the article; (v) HD camera with appropriate Visual Detection Software (VDS) to detect the different colour Laser Dots when user directs the Laser Gun lasers towards Camera Detection Area (CDA).
2. Claim 2 The device according to claim 1 wherein the article is selected from the group consisting of toys, aerial drones, humanoid robots. In particular, the device is a remotely controlled toy car.
3. Claim 3 The car according to claim 2 wherein the HD camera is mounted high from the chassis of the car, fish eye lens is mounted on the camera to increase CDA, and the camera is placed close to the back side of the RC car.
4. Claim 4 The car according to claim 3 further comprising two or more on-board cameras to comprise all 360 degree CDA around RC car.
5. Claim 5 A method of remotely controlling an article comprising: (i) pointing two or multiple laser devices with different colour to actuate article’s movement to a pointed destination; (ii) directing Laser Gun toward desired destination ; and (iii) detecting the different colour Laser Dots when user directs the Laser Gun lasers towards Camera Detection Area (CDA)by means of a HD camera with appropriate Visual Detection Software (VDS); (iv) an On-board Processor unit mounted in the article which controls article movement to a computed destination.