CN103028258A - Autonomous vehicle system - Google Patents

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.

Description

The autonomous vehicle system

The cross reference of related application

The application is the application case that partly continues, and require the U.S. Patent application No.13/305 of submission on November 28th, 2011,613 rights and interests under 35U.S.C. § 120, this application by reference integral body is incorporated into this, and the application requires the U.S. Patent application No.61/543 that is entitled as " Vibration Powered Vehicle " of submission on October 4th, 2011,047 rights and interests under 35U.S.C. § 119 (e), this application all is incorporated into this by reference.

Technical field

The present invention relates to based on oscillation action and/or the equipment that moves of vibration, can utilize the autonomous device of magnetic field part ground control and for the track of equipment.

Background technology

An example of vibratory drive motion is the vibrate electrons football match.Occurring randomly or slightly directionally motion without the life plastics of the horizontal metal spatial induction of vibration.The early example of vibratory drive motion is used internal electric source and the vibrating mechanism that is positioned on the vehicle.

A kind of method that produces exercise induced vibration is the electric rotating machine that makes the axle rotation that is connected to mass.Oscillating movement is brought out in the rotation of mass.Power supply comprises cochain spring or the dc motor of manual energy supply.Up-to-date trend is to use the pager motor that is designed to make pager or mobile phone vibration under silent mode.Vibration machine people (vibrobot) and bristle robot (bristlebot) are the examples with two modern times of the vehicle that vibrates induced movement.For example, can use the motor with mass to produce vibration such as the small scale robot equipment of vibration machine people, bristle robot etc.The leg of robot is metal wire or stiff plastic bristles (bristles) normally.Vibration makes whole robot up-down vibration and rotation.Owing to realize the control of effective direction, so these robot devices often drift about and rotate.

The vibration machine people tends to use long metal wire shank.The shape and size of these vehicles alter a great deal and normally from shorter by 2 " equipment to higher 10 " equipment.Usually rubber feet is added to shank to avoid damaging desktop and change coefficient of friction.Although there is the design of 10-20, the vibration machine people has 3 or 4 legs usually.The generation of vibration of health and shank at random motor pattern almost aspect direction and rotation.Can not produce a new direction with the collision of wall, and the result is that wall only is limited in the motion on that direction.Because the motion of height random, action probability of occurrence true to nature is very low.

The bristle robot is described to miniature directional vibration machine people in the literature sometimes.The bristle robot uses up to a hundred short nylon bristles as shank.The most frequently used source of bristle and vehicle body is the whole head of toothbrush.Pager motor and battery are common design fully.Motion according to the direction of the direction of motor and health and bristle can be at random with nondirectional.The design of use angle bristle backward and the electric rotating machine that is connected can realize having the direction of advance roughly that turns to and lean to one side to drift about of different amounts.Cause vehicle stop with the collision such as objects such as walls, then turn to the left or to the right and continue motion in roughly direction of advance.Because therefore the stiff reaction of gliding motility and bump wall is difficult to present action true to nature.

Summary of the invention

Usually, an inventive aspect of the described theme of this specification such as lower device (for example can be embodied as, toy vehicle), it comprises motor, battery, is applicable to battery is connected to the switch of motor, a plurality of wheels, the vibrating mechanism that is connected to motor and at least one driving leg that is applicable to contact surface and rolls from the teeth outwards.The vibration that is caused by vibrating mechanism so that, described at least one driving leg makes vehicle movement pass through the surface.

Each comprises the one or more of following characteristics alternatively the embodiment of these and other.One or more driving leg is crooked to the rear end of vehicle.Vehicle comprises the wall scroll driving leg.The wall scroll driving leg is in horizontal center and/or places towards the front end of vehicle.One or more driving leg is made of elastomeric material or other elastomers.Motor is that electric rotating machine and vibrating mechanism comprise the eccentric load that is applicable to by the electric rotating machine rotation.Electric rotating machine comprises that housing and eccentric load comprise the mass that is placed in the housing.The housing of electric rotating machine comprise two of being connected by cylindrical portions may smooth, round sides.Motor comprise with vehicle be suitable for mobile perpendicular direction and with the surperficial parallel rotation of support vehicle.Motor is applicable to when rotating in a clockwise direction when the right side of vehicle is observed.Vehicle comprises the chassis, and motor, battery, switch and at least one driving leg are connected to the chassis.The chassis comprises be used to the hole that holds for the axletree of wheel.The chassis comprises the hole of the wheelbase that is applicable to support a plurality of replacements.Be formed with groove for the one or more holes that hold axletree, vertically mobile when toy vehicle jumps, to allow corresponding axletree.Switch comprises the magnetic reed switch that is applicable to by the magnet drives adjacent with vehicle.The reproducible manufacturing vehicle of vehicle and have size less than 1: 75 ratio making vehicle.Vehicle has less than 2 inches length with less than 1 inch width.A plurality of wheels comprise front-wheel and trailing wheel, and motor is vertically upper between front-wheel and trailing wheel.Motor is in the transverse center of vehicle.Motor is positioned at the forward as far as possible position of vehicle so that large as far as possible energy is transferred to leg.Motor is biased to a side with the allowable offset transmission.Vehicle comprises and is applicable to the top that the back axle that cooperates with trailing wheel and battery longitudinally are positioned at back axle.Battery is positioned over the rear of vehicle with respect to motor.Battery is longitudinally between the front-wheel and trailing wheel of vehicle.A plurality of wheels comprise the rubber circumferences surface.A plurality of wheels are made of plastic material.

Usually, another aspect of the described main body of this specification can be embodied as such as lower device, it comprises motor, battery, magnetic reed switch and a plurality of wheel of the motion that is applicable to bring out vehicle, and wherein magnetic reed switch is applicable to based near the magnetic field vehicle, battery is connected to motor or battery and motor are disconnected.

Usually, another aspect of the described theme of this specification can be embodied as following system, and comprising at least one crossing assembly, it has the crossing of making assembly and the interconnective a plurality of connectors of at least one other rail assembly.Each assembly comprises at least one track, and the crossing assembly comprises magnet, this magnet at least primary importance below the first lane and limit the second place of one of retracted position or the second place below the second lane between optionally mobile.Alternative mobile magnet is included in the modularization interactive device that optionally is connected to rail assembly.

Each comprises the one or more of following characteristics alternatively the embodiment of these and other.When magnet was in primary importance, magnet was applicable to drive the magnetic reed switch that is included in the toy vehicle when toy vehicle when first lane moves.Magnet is applicable to wind the axis rotation perpendicular to the surface, and wherein toy vehicle moves on this surface.The non-knob that directly is coupled to of magnet, this knob are applicable at rotary magnet between primary importance and the second place at least.The crossing assembly comprises brake, and it is applicable to tend to magnet is remained in the middle of the one of primary importance and the second place.The crossing assembly comprises three-way intersection.The crossing assembly comprises the curved wall part that is applicable to make the toy vehicle turning.The crossing assembly comprises simple intersection.In the track of crossing assembly at least one comprises the vertical commutator of the alternative rotation that the track wall with the crossing assembly is adjacent, and the vertical commutator of alternative rotation is applicable to optionally be placed at least between the first plane that the track wall by the crossing assembly limits and the second plane that becomes the inclination angle with the first plane.The vertical commutator of alternative rotation is placed as with the first plane becomes the inclination angle to be applicable to make toy vehicle change direction.The vertical commutator of alternative rotation is placed as the track that becomes the inclination angle to be applicable to that toy vehicle is turned to the first plane to have different directions.The crossing assembly comprises a series of one or more main carriagewaies and one group of one or more lane auxiliary, and the primary importance of magnet is below specific of lane auxiliary.Magnet is coupled to be used to the button that magnet is reduced, and the second place is positioned at this specific lane auxiliary, more downward than primary importance.System also comprises a plurality of rectilinear orbit assemblies and a plurality of curve track assembly, and each assembly is applicable to be connected to other assemblies at least one.Vehicle comprises the battery that is applicable to be connected or cut off based on the degree of closeness of magnet and the motor of vehicle vehicle.Vehicle comprises motor, battery, be applicable to battery is connected to the switch of motor, a plurality of wheels, the vibrating mechanism that is connected to motor and at least one driving leg that is applicable to contact surface and rolls from the teeth outwards, and the vibration that is wherein caused by vibrating mechanism is so that described at least one driving leg makes vehicle movement pass through the surface.At least a portion of one or more rail assemblies comprises the first surface feature that contacts with at least one driving leg when the wheel that is applicable to when the arbitrary number in a plurality of wheels is with Surface Contact, and one or more rail assembly comprises and avoids the second surface feature that contacts with at least one driving leg when the wheel that is applicable to when the arbitrary number in a plurality of wheels is with Surface Contact.Curve two-way traffic track has the solid track sept of protrusion automotive is held in the inside in its track.Straight line two-way traffic track has dotted line shape track sept, so that automobile can redirect to relative track when can automobile bumping in single track.

Usually, another aspect of the described theme of this specification can be embodied as following method, and it may further comprise the steps: bring out the vibration of the toy vehicle with vibratory equipment so that toy vehicle the utilization one or more driving adjuncts that contact with the first surface of track and the wheel movement that contacts with track; And in the following steps at least: based on the second surface that is applicable to stop contact with one or more driving adjuncts of track so that toy vehicle can advance with wheel rolling, perhaps utilize the magnet that is connected with track to make vehicle stop, wherein magnet drives is connected to the battery of vehicle the magnetic reed switch of motor.

Usually, another aspect of the described theme of this specification can be embodied as following vehicle or other devices, and it comprises battery; A plurality of wheels, wherein at least one wheel is applicable to contact surface and rolls from the teeth outwards; Be connected to the vibrating mechanism of battery; And at least one driving leg.The vibration that is caused by vibrating mechanism is so that described at least one driving leg makes wheel movement pass through the surface.

Each comprises the one or more of following characteristics alternatively these and other embodiment.Vibrating mechanism comprises motor and the mass that is applicable to by motor oscillates.At least one driving leg is crooked to the rear of vehicle.Toy vehicle comprises the wall scroll driving leg.The wall scroll driving leg is to be in transverse center or in the front end of vehicle is placed at least one.Vehicle comprises a pair of driving leg.A pair of driving leg is placed and at the interval, inner transverse ground of a pair of front-wheel towards the front end of vehicle.At least one driving leg is made of elastomeric material, elastomer or thermoplastic elastomer (TPE).Vibrating mechanism comprises electric rotating machine, the mass that electric rotating machine has housing and is placed on enclosure interior and is applicable to be rotated by electric rotating machine.The housing of electric rotating machine comprise two of being connected by cylindrical portions may smooth, round sides.The mass that vibrating mechanism comprises electric rotating machine and is applicable to be rotated by electric rotating machine, mass are applicable to around being suitable for mobile perpendicular direction with vehicle and rotating with the surperficial parallel axis of support vehicle.The barycenter of mass aligns substantially with the longitudinal centre line of vehicle.Mass is positioned near the front axle of a pair of front-wheel of support of vehicle.The rotation of mass aligns substantially with the front axle of a pair of front-wheel of support of vehicle.Motor comprise with vehicle be suitable for mobile perpendicular direction and with the surperficial parallel rotation of support vehicle.Motor is applicable to when rotating in a clockwise direction when the right side of vehicle is observed.Vehicle comprises the chassis, and motor, battery, switch and at least one driving leg are connected to the chassis.The chassis comprises be used to the hole that holds for the axletree of wheel.Be formed with groove for the one or more holes that hold axletree, vertically mobile to allow axletree corresponding when toy vehicle jumps.Front rod is connected to the chassis, and wherein connecting rod is connected to the pivot that allows front-wheel vertically to move when toy car jumps.Front-wheel rotatably is coupled to the front axle that is supported by front rod, front rod have parallel with front axle and with the isolated pivot of front axle.Front axle matches with the groove that is applicable to limit front axle.The leg point of at least one driving leg and the leg point of the vertical misalignment amount between the leg base portion and at least one driving leg and the offset of vertical amount between the leg base portion form at least 25 degree angles with respect to the perpendicular with the longitudinal size quadrature of vehicle.The leg point of at least one driving leg and the leg point of the vertical misalignment amount between the leg base portion and at least one driving leg and the offset of vertical amount between the leg base portion form at least 40 degree angles with respect to the perpendicular with the longitudinal size quadrature of vehicle.The circumferential surface of at least one of a plurality of wheels outwards tilts a little from the outward flange of wheel.Switch is applicable to by the magnet drives adjacent with vehicle.The reproducible manufacturing vehicle of vehicle and have size less than 1: 75 ratio making vehicle.Vehicle has less than 2 inches length with less than 1 inch width.A plurality of wheels comprise front-wheel and trailing wheel, and vibrating mechanism is in the vertical between front-wheel and trailing wheel.Vehicle comprises and is applicable to the back axle that cooperates with trailing wheel, and battery is positioned at the top of back axle in the vertical.Battery is positioned at the rear of vehicle with respect to vibrating mechanism.Battery is in the vertical between front-wheel and trailing wheel.

Usually, another aspect of the described theme of this specification can be embodied as following vehicle or other devices, and it comprises battery; A plurality of wheels, wherein at least one wheel is applicable to contact surface and rolls from the teeth outwards; Be connected to the vibrating mechanism of battery; And a plurality of bristles.The vibration that is caused by vibrating mechanism is so that described a plurality of bristle makes wheel movement pass through the surface.

Each comprises the one or more of following characteristics alternatively these and other embodiment.Vibrating mechanism comprises motor and the mass that is applicable to by motor oscillates.Vibrating mechanism comprises electric rotating machine, and electric rotating machine has housing and is placed on enclosure interior and is applicable to mass by electric rotating machine rotation, the housing of electric rotating machine comprise two of being connected by cylindrical portions may smooth, round sides.The mass that vibrating mechanism comprises electric rotating machine and is applicable to be rotated by electric rotating machine, mass are applicable to around being suitable for mobile perpendicular direction with vehicle and rotating with the surperficial parallel axis of support vehicle.The barycenter of mass aligns substantially with the longitudinal centre line of vehicle.Mass is positioned near the front axle of a pair of front-wheel of support of vehicle.The rotation of mass aligns substantially with the front axle of a pair of front-wheel of support of vehicle.Vibrating mechanism comprises electric rotating machine, electric rotating machine have with the perpendicular direction that is suitable for vehicle mobile and with the surperficial parallel rotation of support vehicle.Motor is applicable to when rotating in a clockwise direction when the right side of vehicle is observed.Vehicle comprises the chassis, and vibrating mechanism, battery and switch are connected to the chassis.The chassis comprises be used to the hole that holds for the axletree of wheel.Be formed with groove for the one or more holes that hold axletree, vertically mobile to allow axletree corresponding when toy vehicle jumps.Front rod is connected to the chassis, and wherein connecting rod is connected to pivot, and the wheel that pivot allows to be coupled to front rod vertically moves when the toy car vertical motion.Front-wheel rotatably is coupled to the front axle that is supported by front rod, front rod have parallel with front axle and with the isolated pivot of front axle.Front axle matches with the groove of the vertical motion that is applicable to allow front axle.The circumferential surface of at least one of a plurality of wheels outwards tilts a little from the outward flange of wheel.Switch is applicable to by the magnet drives adjacent with vehicle.

Usually, another aspect of the described theme of this specification can be embodied as following vehicle or other device, and it comprises the motor of the motion that is applicable to bring out autonomous vehicle; Battery; Be applicable to the switch that battery is connected to motor or battery and motor are cut off based near the signal vehicle; And a plurality of wheels.

Each comprises the one or more of following characteristics alternatively these and other embodiment.Switch comprises that magnetic reed switch and signal comprise magnetic field.Switch comprises that optical switch and signal comprise optical signalling.Switch is applicable to receive radio signals and signal comprises radio signal.Switch comprises that touch sensor and signal comprise and is applicable to and touch sensor cooperates contacts.The circumferential surface of at least one of a plurality of wheels outwards tilts a little from the outward flange of wheel.Vehicle comprises the chassis, and vibrating mechanism, battery and switch are connected to the chassis.The chassis comprises be used to the hole that holds for the axletree of wheel, is formed with groove for the one or more holes that hold axletree, and is vertically mobile to allow axletree corresponding when toy vehicle jumps.

Usually, another aspect of the described theme of this specification can be embodied as following rail system for toy vehicle, it comprises at least one crossing assembly, it has and is applicable to make crossing assembly and the interconnective a plurality of connectors of at least one other rail assembly, wherein each assembly comprises at least one track, and the crossing assembly comprises magnet, this magnet at least primary importance adjacent with first lane and limit the second place of one of retracted position or the second place adjacent with second lane between optionally mobile.

Each comprises the one or more of following characteristics alternatively these and other embodiment.When magnet is in primary importance, magnet is applicable to drive the switch that comprises when toy vehicle when first lane moves in toy vehicle.Magnet is applicable to the axis rotation around the Surface Vertical that moves with toy car thereon.

Usually, another aspect of the described theme of this specification can be embodied as following rail system for toy vehicle, it comprises one or more rectilinear orbit assemblies, a plurality of tracks that it has sidewall and is limited by dotted line shape protrusion center line, wherein the dotted line shape protrusion center line vehicle that is applicable to make the one in the track to travel tends to remain in this track.

Each comprises the one or more of following characteristics alternatively these and other embodiment.One or more curve track assemblies have the protrusion center line of sidewall and basic continous, wherein the protrusion center line of basic continous is applicable to tend to remain in this track when vehicle movement during by curve, vehicle that the one in the track is travelled, wherein each in the rectilinear orbit assembly comprises connector, and connector is applicable to rectilinear orbit assembly and at least one other assembly are interconnected.The protrusion center line of dotted line shape protrusion center line and basic continous is limited by the acclivity of the edge that is at least the track.The protrusion center line of dotted line shape protrusion center line and basic continous is limited by the vertical projection that the edge in the track has substantially vertical side.

Usually, another aspect of the described theme of this specification can be embodied as following rail system for toy vehicle, it comprises the annex for rail assembly, wherein rail assembly comprises one or more tracks and is applicable to and interconnects with one or more other rail assemblies, and annex comprises signal generation mechanism, signal generation mechanism is applicable to produce signal near the track of the rail assembly adjacent with annex, and signal is applicable to drive the switch at the vehicle that is arranged in the track, and wherein the driving of switch is applicable to so that come the electric power of the battery in the comfortable vehicle and the motor in the vehicle to cut off.

Each comprises the one or more of following characteristics alternatively these and other embodiment.Signal generation mechanism comprises magnet, magnet is optionally mobile between the second place of at least primary importance adjacent with first lane and restriction retracted position, described magnet is applicable to when described magnet is in primary importance and the switch in the vehicle interacts, so that cut off from electric power and the motor of battery.Signal generation mechanism optionally produces optical signalling, and optical signalling is applicable to when vehicle is arranged in the first lane adjacent with signal generation mechanism, interact with the optical pickocff of vehicle, so that from the electric power and motor cut-out of battery.Signal generation mechanism optionally produces radio signal, and radio signal is applicable to when vehicle is arranged in the first lane adjacent with signal generation mechanism, interact with the RTTY sensor of vehicle, so that from the electric power and motor cut-out of battery.

Usually, another aspect of the described theme of this specification can be embodied as following rail system for toy vehicle, it comprises the annex for rail assembly, wherein rail assembly comprises one or more tracks and is applicable to and interconnects with one or more other rail assemblies, and the regioselectivity ground of the switch that annex is applicable to when vehicle is arranged in the first lane adjacent with annex, basis is included in annex drives the hand switch at vehicle, so that cut off from electric power and the motor of battery.

Usually, another aspect of the described theme of this specification can be embodied as following rail system for toy vehicle, it comprises rail assembly, rail assembly comprises for one or more tracks of autonomous vehicle and one or more parking stalls of being used for vehicle, wherein rail assembly is applicable to interconnect with one or more other rail assemblies, and rail assembly comprise with one or more parking stalls in each adjacent magnet, magnet is applicable to when vehicle is in corresponding parking stall, interact with the switch in vehicle, so that cut off from electric power and the motor of battery.

Each comprises the one or more of following characteristics alternatively these and other embodiment.In one or more parking stalls each also comprises at least one sidewall, and the ridge of the low shape that the track of parking stall and rail assembly is separated.

The one or more embodiments of the detail of the described theme of this specification will be described in the drawing and description below.According to specification, drawings and the claims, other features, aspect and the advantage of theme will become clear.

Description of drawings

Fig. 1 is the side view of example wheeled vehicle equipment.

Fig. 2 A is the bottom view of example wheeled vehicle equipment.

Fig. 2 B has described the side view closely that allows part vertical slots, equipment chassis that front axle moves up and down when equipment jumps.

Fig. 3 A and 3B have described two of the vibration that can be used to bring out wheeled vehicle equipment and have replaced rotary vibrating motors.

Fig. 4 is the side view of replacing wheeled vehicle equipment.

Fig. 5 is the bottom view of the replacement wheeled vehicle equipment of Fig. 4.

Fig. 6 has described the bottom view that is used for the example chassis assembly of the wheeled equipment of vibratory drive.

Fig. 7 is the wheeled device bottom stereogram of vibratory drive.

Fig. 8 has described the embodiment of hanger rod component.

Fig. 9 A-9B described suspension rod be applicable to wheel is remained on capped end on the axletree.

Figure 10 has described the alternative embodiment of hanger rod component.

Figure 11 has described the embodiment of wheel.

Figure 12 has described the side view of vibratory drive equipment.

Figure 13 has described the alternative embodiment of vibratory drive equipment.

Figure 14 is the example rail system.

Figure 15 has described and has comprised the example crossing assembly that stops feature.

Figure 16 has described the replacement of being convenient to stop and has stopped assembly.

Figure 17 and Figure 18 have described to have for optionally so that the example crossing assembly of the rotatable vertical commutator of turn inside diameter.

Figure 19 has described and can induce the vertical commutator of the replacement that manually moves around between the configuration in straight line configuration and turning.

Figure 20 has described the sectional view in the track track of the groove that is included between the sidewall.

Figure 21 has described the sectional view in the track track of the protruding features that is included between the sidewall.

Figure 22 is the end-view of track section.

Figure 23 is the end-view of replacing rail assembly.

Figure 24 is the stereogram of rectilinear orbit section.

Figure 25 is the stereogram of curve track section.

Figure 26 is in the example with the vehicle on the track section of modular attachment.

Figure 27 has described the track section with main track section and stop sign annex.

Figure 28 A is the stereogram with track section of main track section and charge station's annex.

Figure 28 B is the stereogram that has with the track section of the main track section of lane control mark and charge station's annex.

Figure 28 C is the stereogram that has with the track section of Figure 28 B of the lane control mark of hiding.

Figure 29 is the front view of the track section shown in Figure 28 A-C.

Figure 30 is the stereogram of crossing track section.

Figure 31 is the stereogram of replacing the crossing track section.

Figure 32 is the stereogram of parking lot track section.

Figure 33 is the flow chart be used to the processing of the motion of bringing out the toy vehicle with vibratory equipment.

Reference numeral and title similar in each figure are indicated similar element.

The specific embodiment

Small autonomous equipment or vibration power car can be designed to, and move through the surface, for example ground, desk or other relatively level and smooth and/or smooth surfaces.Micromodule equipment (for example, be made into be similar to the small size automobile) is applicable to independently mobile and turn in response to the external force sidewall guiding of track (for example, by).In addition, when equipment and object (for example, wall or other vehicles) collision, this equipment can be constructed to relative mode deflection at random.Usually, equipment comprises chassis, a plurality of wheel, one or more driving leg or drives bristle, and vibrating mechanism (for example, make motor or the spring machinery winding mechanism of eccentric load rotation, be applicable to bring out the configuration thing or be applicable to change rapidly motor or other mechanisms of vibration of other layouts of parts of the barycenter of equipment).As the result of the vibration of being brought out by vibrating mechanism, when driving leg or shank contact stayed surface, one or more driving leg can promote forward micromodule equipment.

The motion of micromodule equipment can be passed through, and brings out with respect to the motion of the rotating weight of the rotation biasing of motor in conjunction with barycenter at device interior or the electric rotating machine that is connected to equipment.Rotatablely moving so that its motor that is connected to and vibration equipment of weight.In some embodiments, this rotation but can practical higher or lower rpm value in the scope of 6000-9000 rpm (rpm ' s).Perhaps, vibrating mechanism can operate with irrotational mode induced vibration.As example, equipment can use and be present in very eurypalynous vibrating mechanism in a lot of pagers and the mobile phone, make pager or mobile phone vibration when in vibration mode.The vibration of being brought out by vibrating mechanism (for example can make equipment utilization one or more leg or bristle, bristle group) (for example moves, pass through wheel rolling) by the surface (for example, ground), wherein one or more leg or bristle be configured to when vibration when equipment is moved up and down alternately crooked (based on the contacting on specific direction of surface) and turn back to original position.

Various features can be attached in the micromodule equipment.For example, the various embodiments of equipment can comprise for helping vibration effectively to be converted into proal feature (for example, the elasticity of the relative rigidity of the frictional behavior of the number of the shape of one or more leg, leg, leg point, leg or flexibility, leg, rotation mass are with respect to the relative position of leg).Speed and the direction of equipment moving can be depending on several factors, comprise motor rotating speed, be connected to the biasing weight of motor size, power supply, be connected to equipment the chassis one or more driving leg characteristic (for example, size, direction, shape, material, elasticity, frictional behavior etc.), the character on the surface that operates thereon of equipment, the natural frequency of oscillation of the gross weight of equipment, equipment or driving leg etc.The assembly of equipment can be placed with the relatively low center of gravity (or barycenter) of maintenance to prevent overturning (for example, based on the lateral separation between the leg point).

Fig. 1 is the side view of example wheeled vehicle equipment 100.Fig. 2 A is the bottom view of example wheeled vehicle equipment 100.Equipment 100 comprises chassis 105 and a plurality of wheel 110, and it comprises a pair of front-wheel 110a and pair of rear wheels 110b.Chassis 105 is supported or is comprised for rotary vibrating motor 115 (in this example, have coin or the thin pancake formula vibrating motor of inner eccentric weight or load, but also can be the vibrating motor of other types) and battery supply 120.Line 125 is connected to motor 115 with battery 120 via switching mechanism 130, and wherein switching mechanism 130 comprises the slide outside switch 135 for manual unlocking and closing device 100.In some embodiment that is further described below, switching mechanism can comprise magnetic reed switch, its be applicable near (even when slide switch at open position time) magnetic field that existence is enough equipment 100 when driving magnetic reed switch with battery 120 and motor 115 disconnections (or connection).Also can use the switching mechanism of other types, such as can driven optical pickocff in the situation that has the selective optical signal that produces (for example, fluorescence detector), can driven radio signal sensor when having the selective radio signal that produces, perhaps in that exist in the situation of selective removable contact can driven feeler etc.Driving leg 140 is connected to the end 105.In this example, the single driving leg 140 that is arranged to towards vertical front end of equipment 100 has been described.Driving leg 140 also can be positioned at equipment 100 lateral dimension in the middle of the place or near.In certain embodiments, can use the driving leg 140 more than, and one or more driving leg can be placed on Anywhere (for example, near the centre or rear end of equipment 100) and can be laterally spaced apart the transverse edge of equipment 100 (for example, near) of size along the longitudinal.Each is rotatably connected to chassis 105 to wheel 110a, 110b axletree 145a, the 145b by correspondence, but each wheel 110 can have corresponding independent axletree 145 in certain embodiments.Thereby equipment 100 is supported on the surface 150 by the wheel 110 that is applicable to rest on the stayed surface 150.Usually, driving leg 140 more is connected to chassis 105, and long enough and enough hard at least some weight with fastening 100 towards equipment than the leg point of contact stayed surfaces 150 anteriorly.Simultaneously, driving leg 140 is enough pliable and tough crooked when bringing out the vibration of equipment 100 at electric rotating machine.In certain embodiments, driving leg 140 makes wheel 110a leave stayed surface 150 usually.At least in this case, a pair of front-wheel wheel 110a is not necessarily in axletree 145 rotation of correspondence, and can be by being similar to axletree or other are connected to equipment 100 with being connected and fixed by some.

In operation, when switch 130 is opened, electric rotating machine 115 by make inner eccentric load or mass in plane vertical with stayed surface 150 and that align with the longitudinal size of equipment 100 rotation, come induced vibration.Therefore, the rotating shaft of eccentric load is vertical with the direction of motion and parallel with stayed surface 150.This direction can be so that the cross force that exists in other directions of motor 115 minimizes or eliminates, and this can help equipment 100 trends mobile in rectilinear direction conversely.In addition, motor 115 laterally is placed on the center, can makes moment of torsion minimize or eliminate, this further helps to move in rectilinear direction.Electric rotating machine 115 also can be placed on the longitudinal size between front axle and back axle 145a, the 145b.

The vibration of equipment 100 is so that driving leg 140 pushing equipment 100 forward.Particularly, up and down power (that is, away from power towards stayed surface 150) is brought out in the rotation of eccentric load.The downward power of being brought out by the rotation of eccentric load makes driving leg 140 compressions and crooked, and leg jumps equipment 100 along the rebound of the power that makes progress of being brought out by the rotation of eccentric load.The compression of the repetition of leg, bending and jump travel forward equipment 100.In some cases, leaping legs is so that driving leg 140 leaves stayed surface, and in other cases, and jump can not make driving leg 140 leave stayed surface but be enough to reduce frictional force between driving leg 140 and the stayed surface.The radial motor direction of rotation is clockwise when towards the right side of equipment 100 by electric rotating machine 115 is orientated, the forward component of the power of motor further tends to promote forward vehicle when driving leg 140 leaves stayed surface 150, and when driving leg 140 contacted with stayed surface and be used as the brake of resisting backward motion, the backward component of the power of motor was minimized.Yet in some embodiments, motor 115 may be oriented, so that radial motor rotates to be clockwise when towards the left side of equipment 100.Battery 120 also can be placed as towards the rear of equipment 100 (but for example, above back axle 145b near back axle 145b), and this can be by reducing to help around the inertia of the turning moment of back axle 145b the jump of front end.Perhaps, in certain embodiments, motor 115 may be oriented, so that radial motor rotates to be clockwise when towards the left side of equipment 100.Battery 120 can longitudinally be placed between front axle 145a and back axle 145b.In addition, equipment 100 can comprise the vertical slots (shown in 165) that allows front axle 145a (thereby and front-wheel 110a) to jump along with equipment 100 and move up and down, this so that front-wheel 110a in that at least more time and the stayed surface 150 of vast scale keep in touch, thereby help the trend move forward, and further reduce when the front end of equipment 100 jumps the inertia around the turning moment of back axle 145b.

Fig. 2 B has described the closely side view that allows the part 160 vertical slots 165, chassis 105 that front axle 145a moves up and down when equipment 100 jumps.Shown in 170, front axle 145a freely slides up and down in groove 165 when being limited in the groove before and after mobile.

Although not shown in Fig. 1 and Fig. 2 A, equipment 100 comprises housing or car bonnet (for example, being similar to vehicle).Such housing can be hidden driver part (for example, motor 115, battery 120, line 125 and switching mechanism 130).In certain embodiments, housing is removable (for example, utilizing the auricle be stuck on the chassis 105) and therefore can use interchangeable housing.Equipment 100 for example can copy to be made vehicle and can have size less than 1: 75 ratio the making vehicle result of compact drive system (for example, as).Equipment 100 for example can have less than 2 inches length and less than 1 inch width.In certain embodiments, chassis 105 can be included in axletree hole before or after position a plurality of of different front and backs, to allow mobile axletree and to support different wheelbase (for example, for different housings).Long wheelbase also can further strengthen the trend of moving in rectilinear direction.

The motion of equipment also can be activated the impact of the geometry of leg 140 (or leg).For example, the vertical misalignment amount between the leg of one or more driving leg point (being the end of the contact surface 150 of leg) and the leg base portion (being the end that is connected to apparatus casing of leg) is brought out the motion forward when vibration equipment.At least in driving leg, comprise certain curvature, equipment is travelled forward and then when vibration forces equipment to make progress, (for example bounce back into more straight configuration because leg is easy to bending when vibration forces equipment downward, cause completely or partially jumping out of the surface, so that the leg point upwards moves forward or slips over forward surface 150), therefore can further help motion forward.Can also be by changing one or more driving leg 140 with respect to the angle on surface 150 so that one or more driving leg 140 tend to produce less jump and more before push away, push the speed.Particularly, the vertical misalignment amount (not increasing the length of leg) that increases between leg point and the leg base portion can be pushed the speed.For example, leg point and vertical misalignment amount between the leg base portion can be approximately equal between the sharp and leg base portion of leg the offset of vertical amount (namely, leg turn round about 90 the degree), but in common embodiment, leg (for example turns round approximately at least 10 degree, 15 degree) and usually spend (for example, about 40 degree) greater than about 25.Less angle (namely more near vertical direction) will tend to make equipment to jump manyly, and that larger angle tends to make equipment moving to get is farther.

One or more driving leg 140 brings out proal ability can generating portion vibrating on resilient leg (for example, use elastomeric material or other elastomers, use elastoplast or use bristle) from equipment vertically.The speed that the character of one or more driving leg 140 can help one or more driving leg, the 140 proal tendencies of generation and equipment 100 to tend to move, its character comprise the leg base portion with respect to the amount of the elasticity of the position of leg point, one or more leg 140, curvature, leg with respect to surface-supported angle, and the coefficient of friction leg point of contact stayed surface 150 (at least for).The wheel 110 (for example, rubber or other elastomers) that employing has enough circumferential surfaces of coefficient of friction also can reduce the tendentiousness of lateral drift.Yet in some cases, at least some lateral drifts are (for example, be used for turning to leave barrier and/or be used for turning along other guides that sidewall or intention are turned equipment 100) of expectation.Therefore, can use wheel 110 with the relatively low coefficient of friction wheel of relatively hard constructed in plastic material (for example, by).

For example, equipment also can be configured to be convenient to some turning when the vibration of being brought out by the rotation of eccentric load causes jump.Jump and also can cause normal acceleration (for example, leaving surface 150) and forward acceleration (for example, usually towards the proal direction of equipment 100).During each jumped, one or more driving leg 140 and front-wheel 110a can jump (leaving stayed surface 150 fully or not exclusively), turn to a side or opposite side in response to (for example, from sidewall) outside cross force at least with permission equipment 100.If the geometry of leg and/or configuration are set to increase the amplitude of jump, then can increase the tendency of being convenient to turn.

The geometry of one or more driving leg 140 can help the mode of equipment 100 motions.The aspect of the geometry of leg comprises: the leg base portion is placed on the front of leg point, the curvature of leg, deflection character of leg etc.Usually, according to the position of leg point with respect to the leg base portion, equipment 100 can be experienced different behaviors, comprise the speed of equipment 100.For example, if when equipment 100 is placed on the stayed surface 150, the leg point is similar under the leg base portion, the motion of the equipment 100 that is caused by vibration can be restricted or hinder.This is because the line of connection leg point and leg base portion has very little or do not have the gradient in the space.In other words, there be not " gradient " in the leg 140 between leg point and leg base portion.Yet, if the leg point is placed on the back (for example, farther apart from the front end of equipment 100) of leg base portion, equipment 100 is movable sooner so, this is because optimized the gradient or the gradient of one or more driving leg 140, and the geometry that more is conducive to the leg that moves is provided.

Leg can be straight or crooked.The geometry of leg can limit based on the ratio of the measured value of the various legs that comprise leg length, diameter and radius of curvature and implement.Ratio between the radius of curvature that spendable a kind of ratio is leg 140 and the length of leg.Only as an example, be 10.276mm if the radius of curvature of leg is the length of 49.14mm and leg, ratio is 4.78 so.In another example, be 0.4 inch if the radius of curvature of leg is the length of 2.0 inches and leg, ratio is 5.0 so.Can use other leg 140 length and radius of curvature, cause the ratio of the length of the radius of curvature of the motion that is fit to of equipment 100 and leg with generation.Usually, the ratio of the length of radius of curvature and leg can be in 2.5 to 20.0 scope.Radius of curvature can be similar to consistent by point from the leg base portion to leg.Yet this approximate consistent curvature can comprise some variation.For example, some cone angles that (for example in order to shift out from mould) may be in one or more leg during the manufacturing of equipment.Such cone angle may be introduced in the variation on the total curvature, and this variation can not hinder radius of curvature usually, and point is similar to consistent from the leg base portion to leg.

Another ratio that can be used to the feature of description equipment 100 (for example relates to leg length and leg radius or thickness, measured such as the centre at leg, perhaps as based on the average leg diameter on the whole length of leg and/or measured about the girth of leg) ratio.For example, the length of one or more leg 140 can refer in 0.2 inch to 0.8 inch the scope (for example, 0.405 inch), and can with in 0.03 to 0.15 inch scope (for example, 0.077 the thickness proportional (for example, 5.25 times) of leg inch).Express in another way, one or more leg 140 can be about their length about 15% to 25% so thick, but also can use greater or lesser thickness (for example, in 5% to 60% scope of leg length).Leg length and thickness also depend on the overall size of equipment 100.Usually, at least one driving leg can have 2.0 to 20.0 leg length in the scope of (that is, in 5% to 50% scope of leg length) and the ratio of leg diameter.

As mentioned above, one or more driving leg 140 can be crooked.Because one or more driving leg 140 is made by elastomeric material usually, one or more driving leg 140 can help travelling forward of equipment 100.The leg bending can be come by increasing leg, the travelling forward of reinforcement equipment 100 with respect to the amount of straight leg compression.The decrement of this increase also can strengthen vehicle bound.One or more driving leg 140 also can have the inclination of at least certain degree from the leg base portion to the leg point.

One or more driving leg 140 is usually by rubber or other pliable and tough but resilient materials (for example based on Shore A scale hardness near 55 or based on the polystyrene-butadiene-styrene of Shore A scale hardness in the 45-75 scope).Therefore, when applying power, leg is easy to deflection.Usually, one or more one or more driving legs 140 comprise enough consistency and elasticities so that unanimously travel forward when vibration equipment.How the selection of leg material moves influential to equipment 100.For example, the type of employed material and extent of elasticity thereof can affect the springback capacity of one or more one or more driving legs 140 that caused by vibration.As a result, the speed of equipment 100 can change according to the hardness of (comprising in the middle of leg point other factors with respect to the position of leg base portion) material.Usually, use harder material can produce larger resilience in one or more one or more driving legs 140, and soft material can absorb the energy by generation of vibration, this tends to reduce the speed of equipment 100.

Fig. 3 A and Fig. 3 B have described two alternative rotary vibrating motors of the vibration that can be used to bring out wheeled vehicle equipment.Fig. 3 A shows electric rotating machine 305, and it is applicable to when electric power is fed to motor 305, makes outside eccentric load 310 around rotation 315 rotations.Fig. 3 B shows (for example, as being included in the equipment 100 of Fig. 1) electric rotating machine 320, itself so that the inside eccentric load that is included in the housing of motor 320 rotate around rotation.In either case, motor 305,320 is coupled to mass or eccentric load and makes its rotation, and wherein mass or eccentric load have with respect to motor 310,320 rotation 315 center of gravity from axle.

Fig. 4 is the side view of replacing wheeled vehicle equipment 400.Fig. 5 is the bottom view of replacing wheeled vehicle equipment 400 among Fig. 4.Replace wheeled vehicle equipment 400 and be included in two driving legs 440 that are positioned at front-wheel 410a back in this example.Equipment 400 also comprises battery 420 and the electric rotating machine 415 between front-wheel 410a and trailing wheel 410b longitudinally.In addition, equipment 400 also comprises the eccentric load 460 (for example, the motor 305 of Fig. 3 A and outside eccentric load 310) of motor 415 outsides, and its eccentric load with the equipment 100 that is present in Fig. 1 is compared and can be produced larger cross force.Such cross force can make equipment with less rectilinear motion and have more uncertain motion.Other replacement embodiment also is fine.For example, electric rotating machine can have the rotation vertical with the direction of motion of equipment and/or electric rotating machine and battery can be placed side by side.

Such as the vibratory drive wheeled vehicle of equipment 100 or equipment 400 etc., the vehicle that perhaps has other driving mechanisms can be connected with rail system use.Rail system can be modular and comprise can be with the assembly of any configuration assembling (for example, utilizing connector to be stuck) almost.Rail system can comprise for wall or other protrusions along straight line and curved path guided vehicle.In addition, some protrusions or guiding elements optionally are placed to and cause different behavior (for example, turn or keep straight on).Rail system comprises that also the magnetic reed switch that can be used for driving in vehicle is so that the built-in magnet of vehicle stop.Such magnet can by optionally mobile for more near or more away from the vehicle of magnet contiguous (for example, top or next door), optionally to drive or not drive such magnetic reed switch.The assembly of rail system can comprise one or more tracks.

Fig. 6 has described the bottom isometric view that is used for the example chassis assembly 600 of vibratory drive wheeled vehicle.Assembly 600 comprises the chassis 605 that is applicable to support electric rotating machine 615, and comprises battery container 620 (for example, wherein battery can insert and remove from upside).Electric rotating machine 615 can make multiple tooth gear 630 rotations with ring gear 635 engagements, and multiple tooth gear 630 makes mass 625 rotations conversely.Mass 625 for example can form with ring gear 635.Two driving legs 640 are connected to the chassis in the both sides of mass 625.Chassis 605 also comprises axletree hole 645a and the 645b for front axle and back axle.In described example chassis assembly 600, mass 625 rotates at the axis identical with front truck axis hole 645a, thereby and can rotate at the also axle of support wheel, but wheel can be not yet rotary actuation by mass 625.In certain embodiments, the barycenter of the eccentric part of mass aligns substantially with the center line of vehicle, to help more straight tracking (that is, roughly rectilinear direction move).In addition, the barycenter of mass also can align to avoid causing the tendency that turns to a side or opposite side substantially with the center line of vehicle.

Fig. 7 is the bottom perspective view of vibratory drive wheeled vehicle 700.Vehicle 700 can be at chassis assembly shown in Figure 6 600 structure, and comprises front-wheel 710a and trailing wheel 710b, chassis lid 750 and from the outstanding switch 735 of chassis lid 750.Suspension rod 755 supports front axle 745a and winds the axis that the front portion by suspension rod limits at 760 places and pivotally rotates, and this permission axletree 745a moves up and down in groove 765.This moves up and down when driving leg 740 tends to make vehicle 700 to jump up and down, front-wheel 710a is kept with stayed surface contacts.Sway lower end restriction suspension rod 755 in the front portion 770 of chassis lid 750.

Fig. 8 has described the embodiment of hanger rod component 800.Assembly 800 comprises suspension rod 805, and the part of suspension rod 805 is as the axletree (shown in 815) of pair of wheels 810.

Fig. 9 A to Fig. 9 B has described the capped end 900 that is applicable to wheel (for example, the wheel 810 of Fig. 8) is remained on the suspension rod on the axletree.

Figure 10 has described the alternative embodiment 1000 of hanger rod component.Assembly 1000 comprises suspension rod 1005, and the part of suspension rod 1005 is as the axletree (shown in 1015) of pair of wheels 1010.Yet in this embodiment, the axletree part 1015 of suspension rod 1005 meshes with the inside of axle bearing 1020, and axle bearing 1020 is assemblied in the dead eye of wheel 1010.

Figure 11 has described the embodiment 1110 of wheel.Wheel 1110 comprises inner orientation cone (shown in 1115), and it can reduce the tendentiousness that the vibratory drive vehicle is skipped low obstacle.

Figure 12 has described vibratory drive equipment 1200.As shown in the figure, equipment 1200 shows two kinds of replacement configurations of one or more driving leg, comprises more upright driving leg 1210 and more wide-angle or the driving leg 1205 of inclination.By using the driving leg 1205 that more tilts, can be so that proal speed optimization and the quantity that can reduce to jump.In addition, Figure 12 has described the relative position between leg point and the wheel travel.Usually, leg 1205 or 1210 should be below the extreme higher position of front-wheel certain distance (shown in 1215, for example, 0.5mm) locate to contact stayed surface, and the stroke (shown in 1220) between the extreme lower position (shown in 1225) of the extreme higher position of front-wheel (as shown in the figure) and front-wheel should be enough so that, even when jumping with the interactional as a result equipment 1200 of driving leg 1205 or 1210 as vibrating mechanism, vehicle also keeps contacting with contact surface.Usually, for given material, along with leg is elongated, need weak inclination to realize maximal rate.

Figure 13 has described the alternative embodiment 1300 of vibratory drive equipment.The top that equipment 1300 is included in the top edge of vehicle be connected to chassis 1305, one or more long driving leg 1310.Long driving leg 1310 like this can help raising speed.And, electric rotating machine 1315 is placed on the top of front axle, also be convenient to push the speed with respect to the motor that is placed in the equipment more backward.

Figure 14 is example rail system 1400.Rail system 1400 can comprise a plurality of rail assemblies, and it comprises rectilinear orbit parts 1405, curved rail assembly 1410, three-way intersection assembly 1415 and simple intersection assembly 1420.Each rail assembly comprises one, two or more track 1425, and it can comprise that at least some parts guide the sidewall of the vehicle 1430 that passes track 1425.Three-way intersection assembly 1415 comprises the redirecting features 1435 that is built in sidewall, it is by along at curve protrusion (shown in the 1436) guided vehicle 1430 in the sidewall, when entering the crossing and arrive sidewall, vehicle 1430 makes vehicle 1430 turnings (for example, left).Crossing assembly 1415 and 1420 can comprise make that vehicle stops in the crossing stop feature 1440.For example, stop feature 1440 and can use magnet 1445, it can or raise and be reduced to below the track in rotation below the track, optionally to drive the magnetic reed switch in vehicle 1430.Can utilize control handle or button 1450 to come the position of magnet 1445.Crossing assembly 1415 and 1420 also can comprise vertical commutator protrusion 1455, and it can utilize control handle or button 1460 optionally to rotate and keep straight on so that vehicle 1430 is turned or continued.In addition, rail system can comprise personal module 1465, it is used for vehicle 1430 (is for example transferred to one or more lane auxiliaries, enter the station or the zone of gas station type), one or more lane auxiliaries also can comprise magnet, this magnet stop vehicle 1430 is until promote button 1470, discharge vehicle 1430 from magnetic field (for example by magnet being moved to the more below of lane auxiliary).

Figure 15 has described and has comprised the example crossing assembly 1500 that stops feature.Stopping feature can utilizing the rotatable wheel 1505 that is hidden in assembly below, crossing to realize that wherein crossing assembly 1500 comprises the magnet 1510 that is connected to rotatable wheel 1505.Rotatable wheel 1505 can utilize knob 1515 to rotate, wherein the knob 1515 non-rotatable wheel 1505 that directly make (are for example rotated, utilize gear mechanism) with the below that optionally magnet 1510 is placed on certain track (namely, vehicle is stopped in those tracks) or away from track (that is, allowing vehicle freely to pass through).Therefore, magnet 1510 can around with the axis rotation of the Surface Vertical of crossing assembly 1500 (wherein vehicle moves thereon).In certain embodiments, knob 1515 can allow the user to promote rotatable wheel 1505 downwards and lock it in enough belows far away of crossing assembly 1500, so that magnet 1510 does not hinder the vehicle of going up in any direction.

Figure 16 has described is convenient to make the replacement of vehicle stop to stop assembly 1600.Replacement stops assembly 1600 and comprises knob 1605, and it is used for being pivotally attached to by arm 1615 magnet 1610 of knob 1605.Utilize knob 1605, magnet 1610 can optionally be placed on the below (so that vehicle stop) in track or away from track (allow vehicle by).

Figure 17 and Figure 18 have described crossing assembly 1700, and it has for the rotatable vertical commutator 1705 that optionally makes turn inside diameter.Rotatable vertical commutator 1705 can be connected to rotatable wheel 1710, and rotatable wheel 1710 can utilize knob 1715 to rotate, and knob 1715 utilizes the gear mechanism 1720 non-rotatable wheel that directly are coupled to.By rotation knob 1715, vertically commutator 1705 can and contiguous track wall 1725 essentially identical plan-positions and and the plane of contiguous track wall 1725 bevels between mobile.Brake can be used for making vertical commutator 1705 trend desired positions (for example, be convenient to make vehicle straight-line travelling or make Vehicular turn have the track of different directions).

Figure 19 has described and can induce the vertical commutator 1900 of the replacement that manually moves around between the configuration in straight line configuration and turning.Again, brake can be used for making the two or more desired locations of vertical commutator 1900 trends.

In some embodiments, rail system can comprise slope or inclined-plane.By comprising the surface characteristics in orbit that at least substantially prevents one or more driving leg and Surface Contact, can be so that the wheeled equipment of vibratory drive freely rolls (for example, going down hill).

Figure 20 has described the sectional view in the track track 2000 of the groove 2005 that is included between the sidewall 2010, and groove 2005 is used for preventing the driving leg contact raceway surface 2015 of the wheeled equipment of vibratory drive (for example, the equipment 100 of Fig. 1).Groove 2005 can be used on the descending track section, for example allows equipment freely to roll.Groove 2005 also can be used on the shorter section so that vehicle deceleration.

As an alternative, in the situation of using short driving leg, can replace groove 2005 with flat surfaces, freely roll with permission equipment.Under these circumstances, the part of track can comprise protruding features, and this protruding features cooperates with driving leg so that driving leg can pushing equipment.

Figure 21 has described the sectional view in the track track 2100 of the protruding features 2105 that is included between the sidewall 2110, wherein protruding features 2105 be used for when wheel when raceway surface 2115 rolls and the driving leg of the wheeled equipment of vibratory drive (for example, the equipment 100 of Fig. 1) mesh.Protruding features 2105 can be used on wherein, and vehicle can utilize one or more driving leg to promote on the track section of itself.

Figure 22 is the end-view of track section 2200.Track section 2200 comprises track 2205 and the center line protuberance 2215 that is limited by sidewall 2210.Center line protuberance 2215 can be used for the track use that management vehicle passes track.Center line protuberance 2215 is can be enough high to be remained on vehicle in the specific track being easy to, and enough low with allow vehicle by accident (for example, if if bump or vehicle swells 2215 with the close center line of enough angles) cross other tracks.

Figure 23 is the end-view of replacing track section 2300.Track section 2300 comprises the track 2305 that is limited by sidewall 2310 and the center line 2315 of raising.Therefore, each track 2305 tilts to each sidewall 2310 from the center line 2315 of raising.The center line 2315 of raising can be used for the track use that management vehicle passes track.The center line 2315 of raising is can be enough high to be remained on vehicle in the specific track being easy to, and enough is lowly crossing in other tracks in some situation at least with the permission vehicle.

Figure 24 is the stereogram of rectilinear orbit section 2400.This track section is included in the center line protuberance 2415 of the dotted line pattern between the track 2405.The dotted line pattern is easy in the rectilinear orbit section vehicle be remained in their track, and by accident cross-domain possibility to other tracks is provided.And the dotted line pattern is served following purpose, if vehicle begins to cross over center line, then makes vehicle more easily change track (or turning back to original track).Particularly, the wheel on a side and/or the trailing wheel of vehicle can more easily slip over the gap in the dotted line pattern, change so that vehicle is finished the track.

Figure 25 is the stereogram of curve track section 2500.Curve track section 2500 is included in the real center line protuberance 2515 between the track 2505.Real center line protuberance 2515 especially provides better Lane regulation at the inside lane of turning, and crosses other tracks to prevent vehicle.In certain embodiments, can use the center line protuberance 2515 of basic continous, for example so that so that partly cross over the vehicle of center line and finish and cross over or turn back to original track.

Figure 26 is the example of the vehicle 2605 on track section 2600.Track section 2600 comprises main track section 2610 and clips to modular attachment 2615 on the groove (shown in 2620) in the main track section 2610.Modular attachment can comprise the magnet 2625 adjacent with the sidewall 2630 of main track section 2610.Magnet 2625 can result from the magnetic reed switch 2635 interactional magnetic fields in the vehicle 2605, and the electric power of driving mechanism (for example, the electric rotating machine 115 of Fig. 1) is cut off, this conversely so that vehicle 2605 stop.Magnet 2625 (for example can be rotated or move, by manually or automatically control lever or switch) with away from position shown in Figure 26 (for example, upwards or to side), so that magnetic field no longer interacts with magnetic reed switch, this can make the electric power of driving mechanism again use, and this makes again setting in motion of vehicle 2605 conversely.

In alternative embodiment, not to use magnet and magnetic reed switch, switch 2635 can comprise fluorescence detector, it detects the lip-deep mark at track section 2600, perhaps near the character of the light the vehicle 2605 is reacted.Mark can comprise for example line of different in width, itself so that when fluorescence detector detects the line that the automobile positive motion passes through switch 2635 can cut off electric power from motor.Therefore, such mark can be used for making vehicle 2605 to stop.In addition, the line of relative narrower can be used for by disable motor and allow motor to open when momentum is carrying vehicle 2605 and passed through narrower line alternatively when vehicle 2605 moves through narrower line, so that vehicle 2605 slows down.Wider line can be used for making vehicle 2605 to stop fully.The line of widening gradually also can be used for making vehicle to slow down gradually until stop.Can also use the mark of the other types except line.Line or mark can have colors different from other surfaces of track, perhaps can have different reflectivity (for example, if fluorescence detector is enough sensitive in to detect the difference between the reverberation when vehicle 2605 passes through mark).Fluorescence detector also can or can rely on active illumination feature included in the track section 2600 to the ambient light sensitivity.

Also can use the mark of the different pattern on raceway surface, to cause the different behavior of being undertaken by vehicle 2605.For example, be included in processor in the vehicle 2605 and when optical pickocff perceives mark on the raceway surface, can receive data from fluorescence detector, and processor is programmed to cause different reaction actions.A series of equidistant line can make vehicle 2605 slow down gradually, and solid wide line can make vehicle 2605 stop, and the line of a series of paired groupings can be so that vehicle 2605 be turned right, and a series of ternary line can make vehicle 2605 turn left.Perhaps, can cause with different colors different actions.As another alternative, vehicle 2605 can comprise two or more laterally spaced fluorescence detectors, and in one or more fluorescence detectors which action can be dependent on and detected mark from the teeth outwards.Can utilize any suitable technology, comprise that technology known in the art realizes turning.

Figure 27 has described the track section 2700 with main track section 2710 and stop sign annex 2715.When the close stop sign annex 2715 of the vehicle movement with magnetic reed switch, magnet 2725 can make the normally closed magnetic reed switch in the vehicle open, thereby is closed in the motor in the vehicle, makes vehicle stop.Magnet 2725 can be coupled to the base portion of stop sign 2740.By stop sign 2740 is rotated down shown in 2745 or shown in 2750 around the rotation of the axis of stop sign post, can be so that the mode moving magnet 2725 that magnetic reed switch is closed again, thus make motor open and make the vehicle setting in motion.With stop flag 2740 retract the position shown in the figure can be again so that again stop near the vehicle of stop sign annex 2715.Example as an alternative, magnet 2725 can be placed on main track section 2710 below, thereby and the rotation of stop flag 2740 or movement can so that magnet slide or rotate away from track section 2710.Can also use be used to the other technologies that vehicle selective ground is stopped.For example, as discussed above, vehicle can comprise that detection is at the lip-deep pattern of track section 2700 or the fluorescence detector of mark.Stop sign 2740 is on the first direction or can be so that pattern or mark are moved to the position below the track of track to the rotation of primary importance or movement, perhaps below the track of track, present, and on second direction or to the rotation of the second place or movement can so that pattern or mark be moved as away from the track or be hidden.

Figure 28 A is the stereogram with track section 2800 of main track section 2810 and charge station's annex 2815.Figure 28 B is the stereogram of track section, and its main track section has lane control mark 2850 and charge station's annex.Figure 28 C is the stereogram of track section with Figure 28 B of hiding lane control mark (shown in 2855).Figure 29 is the front view of track section 2800.Charge station's annex 2815 has rotating toll bar 2840, and it can be connected to the magnet of the magnet 2727 that is similar to Figure 27.Toll bar 2840 can come back rotation (for example between the closed position shown in Figure 28 A and open position as shown in figure 29, by the symbol of toll-gate on the roof of rotation charge station), wherein in the closed position, magnet is so that the electric power (perhaps in orbit pattern make fluorescence detector be cut to the electric power of motor) of vehicular electric machine is opened and be cut to the magnetic reed switch in the vehicle 2805, and in open position, allow magnetic reed switch to close (perhaps allow pattern on the track to change or be hidden) and reclose the electric power of vehicular electric machine.Therefore charge station's annex 2815 and toll bar 2840 can and stop to indicate that 2740 similar modes operate with the stop sign annex 2715 of Figure 27.Annex 2715 and 2815 (or comprise other similar annexes of the magnet) or other annexes (for example, do not have magnet) can be designed to (for example be connected to the rectilinear orbit section, as shown in figure 24) or the curve track section (for example, as shown in figure 25), and optionally be connected to along any position of whole rail assembly (for example, the rail assembly 1400 of Figure 14).

As the alternative that drives magnetic reed switch with magnet, shown in Figure 28 B-C, can use to change the mechanism that is presented at the pattern on the raceway surface.Figure 28 B comprises lane markings 2850, it can be by the vehicle detection in the track (for example, the fluorescence detector of utilization on vehicle bottom), when detecting mark 2850, being cut to the electric power of motor, and in the situation that does not have mark 2850, reclose the electric power of motor.Therefore, when the discontinuities timesharing of vehicle by mark 2850, motor can alternately be opened and closed so that vehicle deceleration.Then, when the solid section of vehicle by lane markings 2850 owing to cut off the electric power long period of motor, can be so that vehicle stop.Lane markings 2850 can be configured such that they can optionally be removed or hiding (shown in 2855 among Figure 28 C).By hiding lane markings, optionally make vehicle stop or unhinderedly pass track section 2800.For example, when toll bar 2840 is in the closed position (shown in Figure 28 B), lane markings 2850 can be exposed, and this is so that the vehicle stop in the track.When toll bar 2840 is shown in an open position (shown in Figure 28 C), lane markings 2850 can be hidden, this so that the vehicle in the track in the situation of slowing down a little or not slowing down, continue to travel.Thereby toll bar 2840 can be controlled the mechanism that makes lane markings 2850 expose or hide for the position based on toll bar 2840.In certain embodiments, main track section 2810 can be configured to comprise the lane markings 2850 that alternative appears in advance, if so that charge station's annex 2815 is connected to the track, then optionally appears or hiding lane markings.In other embodiments, main track section 2810 and charge station's annex can be configured to single component.Lane markings 2850 can comprise the active illumination of the color that for example changes the zone, track or slip into and skid off the slidingsurface in the visual field in response to the position of toll bar 2840.Also can use be used to appearing and other mechanisms of hiding lane markings 2850.

Figure 30 is the stereogram of crossing track section 3000.Crossing track section 3000 comprises the groove 3005 that can be used for connection mode blocking annex (for example annex 2715 or 2815), and wherein modular attachment can be used for controlling traffic.For example, stop sign annex 2715 can be placed on four diverse location places around the crossing track section 3000, so that the user can optionally make vehicle stop in crossing.

Figure 31 is the stereogram of the crossing track section 3100 of replacement.The crossing track section 3100 of replacing is included in the rotatable circular disc 3110 of raceway surface below, and it comprises magnet 3125, and magnet 3125 can optionally be placed on the below, track of crossing, so that vehicle stops in crossing.Can utilize control lever 3120 manually to rotate rotatable circular disc 3110.Magnet 3125 can be placed with so that, vehicle stops at two offside places of crossing and allows to intersect traffic and do not move through the crossing with not stopping, and rotating circular disk 3110 can be so that intersect traffic and stop and allowing described two offsides to move through the crossing.In certain embodiments, can utilize automatic control system to come moving magnet (no matter be connected to rotatable circular disc, stop to indicate annex, charge station's annex or some other annexes).Perhaps, the rotation of rotatable circular disc 3110 can so that, pattern is alternately moved to one or more tracks following of track section 3100 or away from the track, perhaps alternately appears and hides.

Figure 32 is the stereogram of parking lot track section 3200.The magnet that is placed on 3205 belows, parking stall can be closed in the motor of the vehicle in the parking stall 3205, until with vehicle propulsion in driving lane 3215 or utilize manually or automatically controlling organization moving magnet.Spine 3210 also can help prevent through Vehicular turn to parking stall 3205 and disturb vehicle in the parking stall 3205.

Figure 33 is the flow chart be used to the processing 3300 of the motion of bringing out the toy car with vibratory equipment.(at 3305 places) bring out the vibration of toy car, so that the wheel of one or more driving adjuncts of the first surface of toy car utilization contact track and contact track moves.Based on the raceway surface that is applicable to prevent contact with one or more driving adjuncts, allow toy car with wheel rolling advance (3310).Utilize the magnet that is connected with track to make vehicle stop (at 3315 places).Magnet for example drives the magnetic reed switch that battery is connected to the motor of vehicle, so that the vibration of toy car stops.

Therefore, described and related to specific embodiments of the invention.Other embodiment fall in the scope of claims.

Claims (35)

1. toy vehicle comprises:

Battery;

A plurality of wheels, wherein at least one wheel is applicable to contact surface and rolls from the teeth outwards;

Vibrating mechanism, it is connected to battery; And

In one or more driving leg at least one or a plurality of bristle, the vibration that is wherein caused by described vibrating mechanism is so that described one or more driving leg or a plurality of bristle make vehicle movement pass through described surface.

2. toy vehicle according to claim 1, wherein said vibrating mechanism comprise motor and are applicable to mass by motor oscillates.

3. toy vehicle according to claim 1, wherein at least one driving leg is crooked to the rear end of described vehicle.

4. toy vehicle according to claim 1 also comprises towards the front end of described vehicle and placing and laterally spaced a pair of driving leg in a pair of front-wheel.

5. toy vehicle according to claim 1, wherein said at least one driving leg is made of elastomeric material, elastomer or thermoplastic elastomer (TPE).

6. toy vehicle according to claim 1, wherein said vibrating mechanism comprises electric rotating machine and is applicable to mass by the rotation of described electric rotating machine, and wherein said mass is applicable to rotate around the perpendicular direction that is suitable for moving with described vehicle and with the surperficial parallel axis that supports described vehicle.

7. toy vehicle according to claim 6, the barycenter of wherein said mass aligns substantially with the longitudinal centre line of described vehicle.

8. toy vehicle according to claim 6, wherein said mass are placed near the axletree of a pair of front-wheel of support of described vehicle.

9. toy vehicle according to claim 2, wherein said motor comprise the perpendicular direction that is suitable for moving with described vehicle and with the surperficial parallel rotation that supports described vehicle, and described motor is applicable to rotate in a clockwise direction when from the right side observation of described vehicle.

10. toy vehicle according to claim 1, wherein said vehicle comprises the chassis, described vibrating mechanism, battery, switch and at least one driving leg are connected to described chassis, described chassis comprises the hole be used to the axletree that holds described wheel, and hole one or more that are used for holding wheel be formed with groove so that when described toy vehicle jumps, corresponding axletree can vertically move.

11. toy vehicle according to claim 1, wherein in the leg point of described at least one driving leg and the vertical misalignment amount between the leg base portion and in the described leg point of described at least one driving leg and the offset of vertical amount between the described leg base portion, form the angles of about 40 degree with respect to the perpendicular with the longitudinal size quadrature of described vehicle.

12. toy vehicle according to claim 1, the circumferential surface of at least one of wherein said a plurality of wheels outwards tilts a little from the outward flange of described wheel.

13. toy vehicle according to claim 1 also comprises being applicable to the switch that drives by the magnet with described vehicle proximity.

14. toy vehicle according to claim 1 also comprises being applicable to the fluorescence detector that the character by near the light described vehicle drives.

15. toy vehicle according to claim 1, wherein said vibrating mechanism comprises electric rotating machine and is applicable to mass by the rotation of described electric rotating machine, and wherein said mass is applicable to rotate around the perpendicular direction that is suitable for moving with described vehicle and with the surperficial parallel axis that supports described vehicle.

16. an autonomous toy vehicle, it comprises:

Motor, it is applicable to bring out the motion of described autonomous vehicle;

Battery;

Switch, it is applicable to based on the appearance that detects near the physical property described vehicle so that described battery is connected to described motor, perhaps with described battery and the disconnection of described motor; And

A plurality of wheels.

17. toy vehicle according to claim 16, wherein said switch comprise that magnetic reed switch and described physical property comprise magnetic field.

18. toy vehicle according to claim 16, wherein said switch comprise that fluorescence detector and described physical property comprise the character of light.

19. toy vehicle according to claim 16, wherein said switch are applicable to receive radio signals and described physical property comprises radio signal.

20. toy vehicle according to claim 16, wherein said switch comprise that touch sensor and described physical property comprise and are applicable to and described touch sensor cooperates contacts.

21. a rail system that is used for toy vehicle, described rail system comprises:

At least one crossing assembly, it has makes described crossing assembly and the interconnective a plurality of connectors of at least one other rail assembly, wherein each assembly comprises that at least one track and described crossing assembly comprise magnet, described magnet at least primary importance adjacent with first lane and limit the second place of one of retracted position or the second place adjacent with second lane between optionally mobile.

22. rail system according to claim 21, wherein when described magnet was in described primary importance, described magnet was applicable to drive switch included in described toy vehicle at toy vehicle when described first lane moves.

23. rail system according to claim 22, wherein said magnet are applicable to wind the axis rotation perpendicular to the surface, wherein said toy vehicle moves on described surface.

24. a rail system that is used for toy vehicle, described rail system comprises:

One or more rectilinear orbit assemblies, a plurality of tracks that it has sidewall and is limited by dotted line shape protrusion center line, the vehicle that wherein said dotted line shape protrusion center line is applicable to make the one in the described track to travel tends to remain in this track.

25. rail system according to claim 24 also comprises:

One or more curve track assemblies, it has the protrusion center line of sidewall and basic continous, the protrusion center line of wherein said basic continous is applicable to tend to remain in this track when vehicle movement during by curve, vehicle that the one in the described track is travelled, in the wherein said rectilinear orbit assembly each comprises connector, and described connector is applicable to described rectilinear orbit assembly and at least one other assembly are interconnected.

26. rail system according to claim 25, the protrusion center line of wherein said dotted line shape protrusion center line and described basic continous is limited by the acclivity of the edge that is at least described track.

27. rail system according to claim 25, the protrusion center line of wherein said dotted line shape protrusion center line and described basic continous is limited by the vertical projection that the edge in described track has substantially vertical side.

28. a rail system that is used for toy vehicle, described rail system comprises:

The annex that is used for rail assembly, wherein said rail assembly comprises one or more tracks and is applicable to and interconnects with one or more other rail assemblies, and described annex comprises signal generation mechanism, described signal generation mechanism is applicable to produce signal near the track of the described rail assembly adjacent with described annex, and described signal is applicable to drive the switch at the vehicle that is arranged in described track, and the driving of wherein said switch is applicable to so that come the electric power of the battery in the comfortable described vehicle and the motor in the described vehicle to cut off.

29. rail system according to claim 28, wherein said signal generation mechanism comprises magnet, described magnet is optionally mobile between the second place of at least primary importance adjacent with first lane and restriction retracted position, the switch that described magnet is applicable to when described magnet is in described primary importance and in described vehicle interacts, so that cut off from electric power and the described motor of described battery.

30. rail system according to claim 28, wherein said signal generation mechanism optionally produces optical signalling, described optical signalling is applicable to when described vehicle is arranged in the first lane adjacent with described signal generation mechanism, interact with optical pickocff at described vehicle, so that from the electric power and the cut-out of described motor of described battery.

31. rail system according to claim 28, wherein said signal generation mechanism optionally produces radio signal, described radio signal is applicable to when vehicle is arranged in the first lane adjacent with described signal generation mechanism, interact with RTTY sensor at described vehicle, so that from the electric power and the cut-out of described motor of described battery.

32. a rail system that is used for toy vehicle, described rail system comprises:

The annex that is used for rail assembly, wherein said rail assembly comprises one or more tracks and is applicable to and interconnects with one or more other rail assemblies, and the regioselectivity ground of the switch that described annex is applicable to when described vehicle is arranged in the first lane adjacent with described annex, basis is included in described annex drives the hand switch at described vehicle, so that cut off from electric power and the motor of battery.

33. a rail system that is used for toy vehicle, described rail system comprises:

Rail assembly, described rail assembly comprises for one or more tracks of autonomous vehicle and one or more parking stalls of being used for described vehicle, wherein said rail assembly is applicable to interconnect with one or more other rail assemblies, and described rail assembly comprise with described one or more parking stalls in each adjacent magnet, described magnet is applicable to when described vehicle is in corresponding parking stall, interact with switch in described vehicle, so that from the electric power and motor cut-out of battery.

34. rail system according to claim 33, each in wherein said one or more parking stalls also comprises at least one sidewall, and the ridge of the low shape that the track of described parking stall and described rail assembly is separated.

35. the method for the motion of bringing out the toy vehicle with vibratory equipment said method comprising the steps of:

Bring out the vibration of described toy vehicle so that one or more driving adjuncts that described toy vehicle utilization contacts with the first surface of track and the wheel movement that contacts with described track; And

At least in the following steps:

Be applicable to the second surface that can not contact with described one or more driving adjuncts so that described toy vehicle can advance with described wheel rolling based on described track; Perhaps

Utilize the magnet that is connected with described track to make described vehicle stop, wherein said magnet drives is connected to the battery of described vehicle the magnetic reed switch of motor.

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