CN110237545A - A kind of video frequency remote-control method, remote controler and remote-control toy - Google Patents

Abstract

It is related to a kind of video frequency remote-control method, remote controler and the remote-control toy of electronic telecontrol technology, toy is identified by video image, judged and is controlled, when to toy remote control, operator no longer needs to control each step movement of toy execution with manual operation, but by sight see where, toy just automatically moves thereunto, so remote control is extremely simple and interesting, is particularly suitable for the small children of age and uses.

Description

A kind of video frequency remote-control method, remote controler and remote-control toy

The present invention relates to a kind of remote control method of electronic toy, remote controler and remote-control toys for technical field.

Background technique remote-controlled electric toy mainly has traveling class (vehicle, creeping toy and robot etc.) and flight class (straight Rise aircraft, flying saucer etc.) toy, including remote controler and electronic toy, remote control mode mostly use radio or infra-red remote control.Wherein Remote controler include operation button (or operating stick), coding circuit and transmit circuit, operator's both hands carry out various in remote controler Operation, forms encoded information by coding circuit and is launched again by transmit circuit.The control circuit of electronic toy includes receiving Circuit, decoding circuit and execution circuit.The transmitting signal that circuit receives remote controler is received, obtains remote control by decoding circuit decoding Information, then control is executed by execution circuit, so that toy is completed various movements, such as the advance of automobile, retrogressing, left-hand rotation, right-hand rotation, flight The up and down of device, advance, hanging etc..

Also there is the technology being remotely controlled using mobile phone (or tablet computer) at present, by the key on operating handset, or by mobile phone It bobs and weaves, by these movements of body-sensing sensor sensing, as the control instruction of toy remote control, then passes through transmitter Launch, remote control operation is received, identified and executed by electronic toy.

These existing toy remote control technologies, its main feature is that belonging to a kind of " movement remote-control ", i.e., operator is as needed Each step remote control actions are made, and is converted into remote signal and is sent to toy, toy receives remote signal and identifies that this is distant Signal is controlled, driving executing agency executes corresponding this step movement.Operator needs to be intended to according to remote control and toy position is continuous Remote control operation step by step is carried out, so it is more troublesome to operate, the small child resistant of age gets up more difficult.

The prior art there are also it is some using programming come the technology of remote-control toy, for example, write on a remote control allow toy into The step of row various movements all around, or draw on mobile phone and to allow the trajectory diagram of Toy Motion, then toy is just according to these Programming carries out set movement, and this method is although easy to operate, but due to being worked by toy battery electric power height, executing agency State, movement occasion etc. factors influence, and can not accurately be remotely controlled, and operate and lack real-time, the movement of toy be it is interim, Continuously real time remote control can not be carried out, so playing to get up to lack interest.

Such a remote control operation is more intuitive and more easily toy video frequency remote-control object of the present invention is to disclose for summary of the invention Method, remote controler and remote-control toy, it can be realized " sight of operator see to where, toy just it is mobile thereunto " mesh 's.Invention additionally discloses a kind of remote-control toy, remote controler and remote position controlled method that remote position controlled is carried out using light beam, remote controls Device with a remote control light beam, can be realized " operator by light beam irradiation where, toy just it is mobile thereunto " purpose.

Wherein with mating works such as video frequency remote-control method of the invention, visual remote control, remote position controlled method, remote position controlled devices That makees belongs to the prior art by remote-control toy, includes to receive circuit, decoding circuit, driving circuit and executing agency.Receive electricity Road is used to receive the remote signal of remote controler transmitting；Decoding circuit is used to be decoded the output signal for receiving circuit, obtains Telecommand；Driving circuit is for amplifying the output of decoding circuit；Executing agency plays for executing telecommand, driving Tool advanced, retreated, being turned left, being turned right, being stopped, the various movements such as up and down.It is distant that these belong to existing common radio frequency The common technology of control or infrared remote control toy.

Toy video frequency remote-control method of the invention, comprising: scene (1), by camera towards toy intake scene, warp It crosses after signal processing for scene image signal to be output on a display screen and show；(belonging to common video technique)；⑵, On the image of display screen, setting one corresponds to the anchor window of operator's eye position；Control circuit in picture signal, Set the position data of anchor window in the picture；(anchor window, which can be, to be directly fixed on the screen of display screen；? Virtual window icons can be arranged to, and show that at this moment anchor window is relative to the absolute position of screen on the image Fixed, but the relative position of the scene image relative to mobile variation is mobile)；(3), operator is intended to according to remote control, moves Dynamic camera makes the scene image for showing screen display generate movement, and wishes anchor window alignment function person on display screen Toy is moved on target position；(that is where operator wishes the movement of toy next step, it just will be relative to operator The anchor window of sight is directed at there)；(4), control circuit identifies the identification icon of toy in scene picture signal；(such as In fruit scene image signal, the identification icon of toy is not identified, illustrate that toy does not fall within the scene domain of present viewing field Interior, then control circuit issues the telecommand for allowing toy stopping to act)；(5), control circuit obtains toy identification icon in image Position data in signal, and be compared with the position data of anchor window, (position of anchor window on the image is fixed , position data is also setting and constant), the relative position both obtained, and it is fixed with this to show that driving toy is moved to The telecommand of position window；Wherein in scene picture signal, when the identification icon of toy touches anchor window, (it that is to say When toy identifies that icon is Chong Die with the appearance of the position data of anchor window), control circuit, which issues, makes toy stop mobile remote control Instruction；(6), the signal of telecommand is sent after coding by transmit circuit；(7), the reception circuit of toy receives To after signal, telecommand is obtained by decoding, telecommand is executed by executing agency using after amplification driving；(including It drives toy mobile to target position or stops movement)；Above-mentioned steps circulation executes.

The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored lines Or the wicket of circle or other shapes；It is also possible to a colored hot spot or colored points；(actually and when window very little A kind of special circumstances).Position of the anchor window in display image, theoretically can be set in any position, but general Position between being arranged in the picture is most suitable.Anchor window can be directly fixed setting (such as printing) in the physics of display screen On screen, at this moment control circuit also needs the position data that the setting in picture signal corresponds to this anchor window；Positioning Window is also possible to be set as virtual window icons, and shows on the image, (similar to green above camera finding screen Color focusing wicket), at this moment anchor window is fixed relative to the absolute position of screen, but the scene relative to mobile variation The relative position of image is mobile, moreover, the position data of anchor window in the picture is fixed.

Position of the anchor window in display image be it is fixed, do not moved with the movement of camera, so, on the spot When scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviour The position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shifting It is dynamic, and anchor window is directed at the target position that operator wishes that toy moves to reach in next step.

Identification of the control circuit to the identification icon of toy, is generally realized using identification software, this belongs to existing figure As identification technology.It is simplest, toy can be identified as a point, to calculate the relative position of it and anchor window, and obtained Driving toy carries out mobile instruction to anchor window out.For example, for some simple flight balls or helicopter toy, only Distant control function with two directions of one-dimensional risen or fallen, it is simple possible that it, which is identified as a point, works as location window When mouth is above toy, the instruction that driving toy rises is issued, when anchor window is below toy, issuing makes toy decline Instruction.

But if creeped the remote control of type toy for vehicle class or other traveling classes, due to toy on the ground each Kind movement can be analyzed to advance, retreat, turns left, the action control of right-hand rotation four direction, if toy is still at this moment identified as one A point is controlled, then operator needs the front end (such as headstock of vehicle) for anchor window being always placed on toy to guide Just there is no problem for control, and when anchor window is moved to toy rear end (tailstock), since at this moment toy is a point, it can not The difference of front and back is distinguished, so will malfunction.

In order to overcome this disadvantage, the present invention is improved, and toy is not identified as a point by control circuit, but will be played Tool is identified as the identification icon with front and back tropism, that is to say the front-rear direction that toy is identified in picture signal, such as Identify the headstock of vehicle and the direction of the tailstock.In this way in scene image, if anchor window is moved to toy by operator Rear end, (or left and right sides), then the software of control circuit just can recognize that anchor window be in the rear end of toy, (or left and right Side), to issue the telecommand for making toy retreat (or left and right turn), keep toy correctly mobile to anchor window.

It is described that toy is identified as to have directive identification figure calibration method, it may is that (1), according to the figure of toy itself The directive identification icon of tool is identified as signal.For example it directly is identified according to the appearance images of a toy car Headstock and the tailstock.Existing image recognition technology can be directly used in this, its advantage is that it is easy to use, without changing the original of toy There is appearance, the disadvantage is that identification software is more complicated, it is also higher to hardware requirement although there is canned software can be used.(2), exist Toy is provided with the marker with direction characteristic in appearance, and identification software is identified in picture signal by the marker The directionality of toy identifies icon.Simplest, marker can be an asymmetrical color map.Software is according to this specific Marker identifies the front-rear direction of toy, just easier.(3), luminous tube is provided on toy, by the light of luminous tube Constitute the luminous pattern with direction characteristic, control circuit identifies that the directionality of toy is known by this luminous pattern Other icon.For example the luminous pattern of directionality is constituted using three luminous tubes, or there is direction using a luminous tube cooperation The light transmitting sheet of property shape constitutes luminous pattern.This method is since toy identification icon can issue specific light, so soft Part identification is got up more easily.The disadvantage is that needing to change toy appearance and circuit.

For in image information, the calculating of the relative position of toy identification icon and anchor window is identified and is sentenced with this The disconnected prior art for obtaining the mobile required instruction of driving toy and video processing, is widely applied in electronic game.Than It such as, can be by piece image video, obtaining toy identification icon current field and the data of row, the field with anchor window It is compared with capable data (these data of anchor window are fixed), to identify the relative position of the two, and with this Judgement obtains the telecommands such as driving toy mobile required advance, retrogressing, left-hand rotation, right-hand rotation, up and down.

The program of control circuit is circular flow, and in each operational process, procedure identification goes out scene image information The relative position of middle toy identification icon and anchor window, obtains the finger for driving toy mobile to anchor window under current state It enables, and by launching after coding；Toy receives the signal, obtains telecommand by decoding, after amplification driving, It is executed instruction by executing agency, driving toy is moved or turned to adjustment, to target position (namely anchor window institute in image The position of alignment) it is mobile.In operational process next time, program again identify that out in scene image information toy identification icon with The relative position of anchor window obtains the driving toy new telecommand required to anchor window movement again, if this Instruction then in order to economize on electricity, can not emit the instruction, toy is still continued to move to by instruction before as last time instruction； And if causing new telecommand to keep up with an instruction not since toy varies widely position after executing a upper instruction Together, then new command is encoded and is emitted by control circuit, according to new telecommand after toy reception, readjusts movement side To continuation is more accurately mobile to target position.

When toy is moved to target position, namely the identification icon of toy is moved on anchor window in the picture, and (this can To be the case where including or partly overlap), toy identifies the position data of icon and determines in program namely in image information , there is the situation as all or part, at this moment illustrates that toy is moved on target position, then in the position data of position window Control circuit issues the telecommand for allowing toy to stop, and toy is made to stop movement.Program continues to run later, continues to identify toy It identifies the variation of the relative position of icon and anchor window, namely waits the mobile variation of the next target position of operator, then Continue to execute the identification, judgement and execution work of a new round.

Certainly during toy is mobile to target position, operator can dollying head at any time, by anchor window Otherwise (i.e. new target position) is re-moved, at this moment program will identify icon and new anchor window according to toy Relative position issues new telecommand, and driving toy is mobile to new target position, realizes continuous remote control in real time.

To work such as the coding of telecommand, decoding, transmitting, receptions, belong to the technology of existing toy remote control.Wherein emit And reception, radio frequency method or infrared mode can be used, alternatively, it is shorter if it is remote control distance indoors, it can also adopt With modes such as bluetooth, WIFI.And to the effect that command signal is encoded, first is that anti-interference ability is improved, second is that making this distant Control device can be identified and be matched with the toy of remote-control target, to realize the remote control to the toy.

According to above-mentioned video frequency remote-control method, the visual remote control disclosed by the invention for toy remote control includes hair Transmit-receive radio road, it is characterised in that: remote controler further includes having video camera (abbreviation camera), video display screen (referred to as to show Screen) and control circuit；Camera includes by the scene image of remote-control toy image for absorbing；Display screen is for showing field Scape image；Control circuit includes video processing module, toy icon-based programming module, position signal identification by signal processing flow Module, telecommand generation module and telecommand coding module, in which: video processing module, for handling the view of camera Frequency signal is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, while obtaining positioning The position data of window in the picture；Toy icon-based programming module, for identifying the identification of toy in scene picture signal Icon；Position signal identification module is used in scene picture signal, extracts the positional number of anchor window and toy identification icon According to, and the position data of the two is compared, obtain the relative position of toy identification icon and anchor window；Telecommand produces Raw module, for the relative position according to toy identification icon and anchor window in picture signal, generate driving toy it is mobile or The telecommand of stopping；(telecommand namely the target position for driving toy to be aligned to anchor window are moved or are stopped Remote control actions required for mobile.For example, for travel type toy, this telecommand include advance, retreat, turn left, turn right, Stop movement)；Telecommand coding module, for being encoded to telecommand；The output namely telecommand of control circuit The output of coding module, is connected to transmit circuit.The telecommand after coding is emitted by transmit circuit.

Toy image can be identified as having directive toy identification icon by wherein toy icon-based programming module, Recognition methods is not repeated herein referring to the content of video frequency remote-control method above-mentioned.

Visual remote control of the invention can be made into independent hand-held remote controller, be held in hand by operator, camera towards The toy being remotely controlled, intake include in the scene image of toy and the display screen for the person that is shown in oriented manipulation, and operator is mobile Remote controler in hand changes the scene image that camera is absorbed, makes the anchor window (view relative to operator in display screen Line position) alignment function person wishes the toy target position that moves to reach in next step, control circuit will pass through procedure identification, judgement And it issues driving toy and carries out mobile telecommand, and emitted after coding by transmit circuit.And the object for appreciation being remotely controlled Tool, receives this remote signal, is sent to decoding circuit and is decoded, obtain telecommand, after amplification, is output to execution Mechanism executes corresponding movement, and driving toy is mobile to target position, realizes that operator sees to where toy is just moved to there Remote control.

Video frequency remote-control method disclosed by the invention and visual remote control, identify toy by video image, are sentenced Disconnected and control, when to toy remote control, operator no longer needs to control each step movement of toy execution with manual operation, but will Sight (the small anchor window in display screen) see where, toy just automatically moves thereunto, so remote control is extremely simple and have Interest is particularly suitable for the small children of age and uses.This remote control method controls object for appreciation using remote control actions one by one with existing " movement remote-control " of tool movement is entirely different, can be described as being " target remote control ".

Another kind extension, remote control technology of the invention can be with the mobile phone with video camera function or other digital product knots It closes, i.e., toy is remotely controlled using mobile phone or other digital products, becomes a kind of method using remotely controlling toy by mobile phone.Its Mobile phone includes camera, display screen and center processing circuit；Its method characteristic includes: that (1), by completing toy of the invention is distant The remote control special-purpose software of prosecutor method, (namely APP) are mounted in the reservoir of mobile phone, are carried out by the center processing circuit of mobile phone Operation, realize include video processing module, toy icon-based programming module, position signal identification module, telecommand generation module, With the function of telecommand coding module；(2), will be output in the communication interface of mobile phone by the telecommand of coding；(communication The data-interface of mobile phone, blue tooth interface, even audio output interface can be used in interface), (3), increase an external transmitting dress It sets, emitter includes communication interface and transmit circuit, for receiving the telecommand of mobile communication interface output, and is passed through Transmit circuit is emitted.The functional module that the center processing circuit operation remote control software of mobile phone is realized, it is distant with above-mentioned video The functional module that the control circuit of control device is realized is the same.And the working principle and remote control method of remote control software are with above-mentioned Video frequency remote-control method is the same.

The technology of above-mentioned video frequency remote-control mobile phone, with the difference of the existing prior art being remotely controlled using mobile phone to toy Be not: existing mobile phone remote technology is that operator looks at toy on one side, on one side constantly by manual operation mobile phone key, or Swinging mobile phone manually makes body-sensing sensor generate inductive signal, generates telecommand constantly to drive toy to carry out each movement Movement.Operator needs to be intended to according to remote control and toy position constantly carries out remote control operation step by step, is that " movement is distant for one kind Control ", so it is more troublesome to operate.And the present invention is that operator holds mobile phone, includes using the camera intake of mobile phone The scene image of toy, and will be in anchor window (sightline window for being equivalent to operator) the alignment scene image on mobile phone screen Wish the target position that toy moves to reach, toy just receives Remote Control Automatic mobile to target position, and the present invention is according to operator Sight control the movement of toy, be a kind of video " target remote control ", the simpler convenience that operates and interesting.

As a kind of unique and interesting design, visual remote control of the invention can be set using the external form of Google glass Meter, and be combined with the technology of the projection-type display screen of Google glass, it is by the display screen of remote controler of the present invention using paddy The miniature projection-type display screen of glasses being mounted on spectacle-frame is sung, other still use technology of the invention, are made into for toy The remote control eyeglasses of remote control.It is the specific technical proposal is: a kind of toy video frequency remote-control glasses, including spectacle-frame and leg of spectacles, also wraps Camera, display screen, control circuit and transmit circuit are included；Wherein camera and display screen are mounted on spectacle-frame, control electricity Road is mounted on the leg of spectacles of glasses；Control circuit includes video processing module, toy icon-based programming module, toys photo contraposition Set identification module, telecommand generation module and coding module；(working principle and the function video as the aforementioned of each module are distant Control content described in device)；The output of control circuit, is connected to transmit circuit.The process for being exported control circuit by transmit circuit The telecommand of coding is emitted.

The working principle of video frequency remote-control glasses is with mentioned-above independent toy visual remote control, bring Benefit is: operator completely dispenses with manually when being remotely controlled operation, and need to be only intended to gently rotate head according to remote control, makes to show Scene image in screen generates movement, and the mesh that will wish that toy is moved in the anchor window alignment scene image in display screen In cursor position, just can be remotely controlled driving toy move to reach the position, veritably realize " eyes see to where, toy just moves It is dynamic thereunto " technical effect, it is extremely convenient to use and interesting.

Invention additionally discloses it is a kind of using light beam to toy carry out the remote position controlled method of remote position controlled, remote position controlled device and Remote-control toy.Its remote position controlled device includes transmit circuit, it is characterised in that: further includes having camera, control circuit and shining Pipe；Luminous tube is irradiated on the target position on ground for emitting a branch of light beam as positioning light beam, is generated one and is determined Position hot spot；Camera be used for absorb include toy image scene image；Control circuit includes view by signal processing flow Frequency processing module, witness marker identification module, toy icon-based programming module, position signal identification module, telecommand generate mould Block and telecommand coding module；The output of control circuit, is connected to transmit circuit.

Wherein video processing module is used to handle the vision signal of camera；Witness marker identification module is used in scene figure As identifying location spot in signal；Toy icon-based programming module is used in scene picture signal, identifies the identification of toy Icon, (identifying icon including the toy with front and back tropism)；Position signal identification module is for obtaining location spot and object for appreciation Position data in each comfortable picture signal of tool identification icon, and be compared, show that location spot and toy identification icon exist Relative position in picture signal；Telecommand generation module is used for according to location spot and toy identification icon in picture signal In relative position, show that driving toy is mobile or stops mobile telecommand；Telecommand coding module will be for that will be remotely controlled The signal of instruction is encoded.

It uses light beam to carry out the remote position controlled method of remote position controlled to toy, (that is to say the job step of remote position controlled device Suddenly), comprising: (1), remote controler issue a branch of light beam as positioning light beam, and project on the target position around toy, Form a hot spot namely location spot；(that high optically focused of existing toy laser transmitter projects can be used in light beam Light beam, alternatively, being formed using common luminous tube plus beam condensing unit；Target position that is to say that operator wishes toy in next step The position moved to reach)；(2), by camera towards hot spot and toy, intake includes the field scene of hot spot and toy, by Video processing module processing is scene image signal；(angle for the light beam that camera and luminous tube issue is the same and consolidates Fixed)；(3), control circuit identifies location spot in scene picture signal；If (do not identified in scene image signal Location spot out illustrates that remote controler does not issue light beam, and operator is not remotely controlled intention, then control circuit does not issue any Telecommand)；(4), control circuit identifies the identification icon of toy in scene picture signal；If (scene image signal In, it does not identify the identification icon of toy, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit is sent out Sell the telecommand of toy stopping movement)；(5), control circuit obtains location spot and each comfortable image letter of toy identification icon Position data in number, and be compared, obtain the relative position of location spot and toy identification icon in picture signal； (6), relative position of the control circuit according to location spot and toy identification icon in picture signal show that driving toy is mobile To the telecommand of location spot；(for example, telecommand includes advance, retrogressing, left-hand rotation, right-hand rotation, up and down etc.)；Wherein In scene picture signal, when toy identification icon touches location spot, (i.e. toy identification icon and location spot are weighed When folded), control circuit, which issues, makes toy stop mobile telecommand；(7), control circuit is by the signal of telecommand by compiling After code, sent by transmit circuit；(8) after, the reception circuit of toy receives signal, telecommand is obtained by decoding, Telecommand is executed by executing agency using after amplification driving；(including driving toy is mobile to target position or stops moving It is dynamic)；Above-mentioned steps constantly recycle execution.

Toy image equally can be identified as having by remote position controlled method and remote position controlled device, toy icon-based programming module Directive toy identifies icon, and recognition methods is not repeated herein referring to the content of video frequency remote-control method above-mentioned.

Remote position controlled device and remote position controlled method, it is basic with the visual remote control and video frequency remote-control method of the foregoing description Principle with method be it is similar, the two the difference is that: 1, video frequency remote-control generates an anchor window, simulation behaviour on a display screen Author is remotely controlled where the sight being intended to, and comes alignment target position, and controls toy and move to the target position, and remote position controlled band There is luminous tube, a branch of positioning light beam can be issued and come alignment target position, so no longer need to simulate an anchor window, (or It is overlapping that person, which comes to an agreement a light beam with anchor window)；2, due to will form a positioning when positioning light beam is projected to target position Hot spot, location spot are visible, and no longer need to observe by display screen, omit display screen so can save, only in control circuit Picture signal is compared and treated in inside；3, correspondingly, video frequency remote-control method is by the position data of toy identification icon Position data with anchor window carries out position comparison, and to obtain telecommand, and positioning remote control method is to scheme toy identification Mark is compared with the position data of location spot, to show that telecommand, principle are the same.

Remote position controlled method and remote position controlled device of the invention is in use, operator's hand-held remote controller, positioning light beam is thrown Be mapped to and wish on place namely target position that toy is moved to, control circuit just automatically generate telecommand and drive toy to Target position is mobile, realize " by light beam shine where, toy just it is mobile thereunto " effect, remote control operation is extremely convenient to be had Interest.It is compared with " technology being remotely controlled using mobile beam to electronic toy " applied before applicant, may not need by Light beam goes to capture and be irradiated to the light-sensitive element above toy, and (when toy when moving do so be also it is difficult), also without Light beam need to be brandished again and again to go to irradiate and drive the shift action of toy execution step by step, but need to only be projected light beams upon and operated Person wishes on the target position that toy reaches that toy is just mobile from the trend position, so remote control operation is more convenient.

The remote-controlled electric toy of the technological maheup of remote control method according to the present invention and remote controler, including remote controler and electronic Toy, electronic toy include to receive circuit, decoding circuit, driving circuit and executing agency, it is characterised in that: remote controler and object for appreciation Using video frequency remote-control method above-mentioned or the method for remote position controlled method or remotely controlling toy by mobile phone between tool.The remote controler Using present invention visual remote control above-mentioned, or using present invention video frequency remote-control glasses above-mentioned；Or before using the present invention The remote position controlled device stated.For example, the visual remote control that the remote controler is above-mentioned using the present invention.Then remote controler includes transmitting Circuit further includes having camera, display screen and control circuit；Camera includes by the scene of remote-control toy for absorbing Image；Display screen is for showing video image；Control circuit includes video processing module, toy icon by signal processing flow Identification module, position signal identification module, telecommand generation module and telecommand coding module；The output of control circuit It is connected to transmit circuit.The telecommand after coding is emitted by transmit circuit.And it is aforementioned to remote control for toys Various improvement and optimisation technique are also adapted to the application of remote-controlled electric toy of the invention.

And electronic toy can be divided into flight type toy and traveling type toy, executing agency is also different, wherein flying The executing agency of type toy includes at least the lifting executing agency having for driving aircraft to go up and down, so remote controler at least can It is risen or fallen using anchor window come remotely-piloted vehicle.And the executing agency for travelling type toy includes to play for driving Have the traveling executing agency to move forward and backward, and the steering executing agency for driving toy to be turned left and turned right, so distant Control device can using anchor window come remote controlled travelling type toy ground carry out by advance, retrogressing, left-hand rotation, right-hand rotation, stopping move Combine the various movements constituted.

Detailed description of the invention Fig. 1 is the circuit block diagram of visual remote control working principle of the invention.Fig. 2 is the object for appreciation being remotely controlled The circuit block diagram of tool.Fig. 3 is a kind of structural schematic diagram (side view) of independent visual remote control.Fig. 4 is the video frequency remote-control The structural schematic diagram (front view) of device.Fig. 5 is that the scene image schematic diagram that remote controller displays screen is shown (is not played in scene Tool).Fig. 6 is that the scene image schematic diagram that remote controller displays screen is shown (toy occurs, toy is not in the position of anchor window in scene It sets).Fig. 7 is the scene image schematic diagram (position that toy moves to reach anchor window) that remote controller displays screen is shown.Fig. 8 is distant The scene image schematic diagram that control device display screen is shown (anchor window re-moves other place).Fig. 9 is that toy is moved to The mobile approach schematic diagram of target position.Figure 10 is the structural schematic diagram of video frequency remote-control glasses of the invention.Figure 11 is the present invention Light beam remote position controlled device structural schematic diagram (side view).Figure 12 is the circuitry block of light beam remote position controlled device working principle Figure.

Specific embodiment is illustrated below according to attached drawing to how to implement the present invention.

It should be noted that present invention aims at the remote control technology of open electronic toy, and it is of the invention for realizing The relevant technologies, such as the coding and decoding to telecommand, transmitting and reception, amplification and driving and the movement of electronic toy Execution unit, advance, retrogressing, stopping, left-hand rotation, right-hand rotation including travelling type toy, the movement of the up and down of flight type toy It executes, belongs to the common technology of existing remote-control toy.And circuit function according to the present invention, including camera and display screen Work, the processing of vision signal obtains special to the identification of special object in video signal in video signal Determine the position data of object, and the comparison of the position data to different objects, also belongs to the existing skill of existing video technique field Art is widely used in video identification field and electronic game field, realizes the specific procedure of these functions, is the field skill The function and working principle that art personnel are described according to the present invention are not required to creative just achievable work.

Fig. 1 is the circuit block diagram of visual remote control working principle of the invention.Visual remote control of the invention includes Transmit circuit, it is characterised in that: remote controler further includes having video camera (abbreviation camera), video display screen (referred to as to show Screen) and control circuit；Camera includes by the image of the scene of remote-control toy for absorbing；Display screen is for showing video Image；Control circuit includes video processing module, toy icon-based programming module, position signal identification mould by signal processing flow Block, telecommand generation module and telecommand coding module, in which: video processing module, for handling the video of camera Signal is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, while obtaining location window The position data of mouth in the picture；Toy icon-based programming module, in the vision signal of scene, identifying the identification of toy Icon；Position signal identification module extracts the position data of toy identification icon in scene picture signal, and with it is fixed The position data of position window is compared, and obtains the relative position of toy identification icon and anchor window；Telecommand generates mould Block generates the movement of driving toy or stops for the relative position according to toy identification icon and anchor window in picture signal Mobile telecommand；(telecommand namely the target position for driving toy to be aligned to anchor window carry out required for movement Remote control actions.For example, this telecommand includes advancing, retreating, turning left, turning right, stopping movement for travelling type toy, For flight type toy, telecommand includes at least up and down)；Telecommand coding module, for being carried out to telecommand Coding；The output of control circuit namely the output of telecommand coding module, are connected to transmit circuit.By transmit circuit to warp Telecommand after crossing coding is emitted.

Toy image can be identified as having directive toy identification icon by wherein toy icon-based programming module, Recognition methods will be described in detail in the video frequency remote-control method described later.

Fig. 2 is the circuit block diagram by remote-control toy with visual remote control auxiliary work.It include to receive circuit, decoding Circuit, driving circuit and executing agency.Receive the remote signal that circuit is used to receive remote controler transmitting；Decoding circuit is for docking The output signal for receiving circuit is decoded, and obtains telecommand；Driving circuit is for amplifying the output of decoding circuit；It holds Row mechanism is for executing telecommand, and driving toy advanced, retreated, turned left, turned right, stopped, up and down etc. are various dynamic Make.These belong to existing common RF remote-controlled or infrared remote control toy the prior art.

Visual remote control of the invention can be made into independent hand-held remote controller, such as the visual remote control structural schematic diagram of Fig. 3 The structural schematic diagram (front view) of (side view) and Fig. 4.The independent visual remote control includes hand handle 1 and main body 2, and hand handle 1 can It is also mountable inside hand handle 1 to have battery in being held in the hand for operator.Control circuit, main body are installed inside the main body 2 of remote controler 2 towards camera 3 is equipped with before toy, the one side (back) of oriented manipulation person is provided with display screen 4.

The work step of visual remote control namely toy video frequency remote-control method of the invention, comprising: (1), pass through camera Scene image signal, is output on display screen after signal processing and shows by the scene towards toy intake scene；Such as The scene image 5 that the remote controller displays screen of Fig. 5 is shown, (not occurring toy in scene)；(2), on the image of display screen, if Set the anchor window for corresponding to operator's eye position；(such as Fig. 5 determines in the scene image 5 that remote controller displays screen is shown Position window 6)；Control circuit is in picture signal, the position data of setting anchor window in the picture；(anchor window can be Directly it is fixed on the screen of display screen；It is also possible to be set as virtual window icons, and shows on the image, at this moment Anchor window is fixed relative to the absolute position of screen, but the relative position of the scene image relative to mobile variation is to move Dynamic)；(3), operator is intended to according to remote control, dollying head, so that the scene image for showing screen display is generated movement, and make Anchor window alignment function person wishes that toy is moved on target position on display screen；(that is operator wishes one under toy Where is moved further, and the anchor window relative to operator's sight is just directed at there)；(4), control circuit is believed in scene image In number, the identification icon of toy is identified；(such as Fig. 6, in the scene image 5 that remote controller displays screen is shown, the toy of appearance is identified Icon 7, and identify that icon 7 is not be overlapped with anchor window 6；If in scene image signal, not identifying the identification figure of toy Mark, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit issues the remote control for allowing toy stopping to act and refers to It enables)；(5), control circuit obtains position data of the toy identification icon in picture signal, and the position data with anchor window It is compared, (position of anchor window on the image be fixed, position data is also setting and constant) both obtains Relative position, and show that driving toy is moved to the telecommand of anchor window with this；Wherein when the signal of scene image 5 In, when the identification icon of toy touches anchor window, (such as Fig. 7, in the scene image 5 that remote controller displays screen is shown, toy 7 The position for moving to reach anchor window 6, when that is to say that toy identification icon is Chong Die with the appearance of the position data of anchor window), control Circuit processed, which issues, makes toy stop mobile telecommand；(6) the signal of telecommand, is passed through into transmit circuit after coding It sends；(7) after, the reception circuit of toy receives signal, telecommand is obtained by decoding, after amplification driving Telecommand is executed by executing agency；(including driving toy is mobile to target position or stops movement)；Above-mentioned steps circulation It executes.

The anchor window recited above for corresponding to operator's eye position can be the rectangle constituted using colored lines Or the wicket of circle or other shapes；It is also possible to a colored hot spot or colored points；(actually and when window very little A kind of special circumstances).Position of the anchor window in display image, theoretically can be set in any position, but general Position between being arranged in the picture is most suitable.Anchor window can be directly fixed setting (such as printing) in the physics of display screen On screen, at this moment control circuit also needs the position data that the setting in picture signal corresponds to this anchor window；Positioning Window is also possible to be set as virtual window icons, and shows on the image, (similar to green above camera finding screen Color focusing wicket), at this moment anchor window is fixed relative to the absolute position of screen, but the scene relative to mobile variation The relative position of image is mobile, moreover, the position data of anchor window in the picture is fixed.

Position of the anchor window in display image be it is fixed, do not moved with the movement of camera, so, on the spot When scape image changes with the movement of camera, anchor window just generates relative movement in scene image.It is equivalent to behaviour The position of the sight of author, operator can make scene image generate movement with dollying head, even if also the visual field generates shifting It is dynamic, and anchor window is directed at the target position that operator wishes that toy moves to reach in next step.

Identification of the control circuit to the identification icon of toy, is generally realized using identification software, this belongs to existing figure As identification technology.It is simplest, toy can be identified as a point, to calculate the relative position of it and anchor window, and obtained Driving toy carries out mobile instruction to anchor window out.For example, for some simple flight balls or helicopter toy, only Distant control function with two directions of one-dimensional risen or fallen, it is simple possible that it, which is identified as a point, works as location window When mouth is above toy, the instruction that driving toy rises is issued, when anchor window is below toy, issuing makes toy decline Instruction.

But if creeped the remote control of type toy for vehicle class or other traveling classes, due to toy on the ground each Kind movement can be analyzed to advance, retreat, turns left, the action control of right-hand rotation four direction, if toy is still at this moment identified as one A point is controlled, then operator needs the front end (such as headstock of vehicle) for anchor window being always placed on toy to guide Just there is no problem for control, and when anchor window is moved to toy rear end (tailstock), since at this moment toy is a point, it can not The difference of front and back is distinguished, so will malfunction.

In order to overcome this disadvantage, keep remote control more perfect, the present invention improves, toy is not identified as a point, and It is that toy is identified as to have directive identification icon, that is to say the front-rear direction for identifying toy in picture signal, than Such as identify the headstock of vehicle and the direction of the tailstock.In this way in scene image, if anchor window is moved to object for appreciation by operator The rear end of tool, (such as tailstock), then the software of control circuit just can recognize that anchor window be in the rear end of toy, (or other Direction), to issue the telecommand for making toy retreat (or left and right turn), keep toy correctly mobile to anchor window.

It is described that toy is identified as to have directive identification figure calibration method, it may is that (1), according to the figure of toy itself The directive identification icon of tool is identified as signal.For example it directly is identified according to the appearance images of a toy car Headstock and the tailstock.Existing image recognition technology can be directly used in this, (such as recognition of face, object identification etc.), advantage Be it is easy to use, without changing original appearance of toy, the disadvantage is that identification software is more complicated, although there is canned software that can make With, but it is also higher to hardware requirement.(2), the marker with direction characteristic is provided in appearance in toy, identification software is being schemed As identifying that the directionality of toy identifies icon in signal by the marker.Simplest, it is non-right that marker can be one The color map of title.Software identifies the front-rear direction of toy according to this special marker, just easier.(3), in toy On be provided with luminous tube, the luminous pattern with direction characteristic is made of the light of luminous tube.For example it is shone using three Pipe constitutes the luminous pattern of directionality, or has the light transmitting sheet of directionality shape luminous to constitute using a luminous tube cooperation Figure.This method is since toy identification icon can issue specific light, so software identification is got up more easily.The disadvantage is that needing Change toy appearance and circuit.

For in image information, the calculating of the relative position of toy identification icon and anchor window is identified and is sentenced with this The disconnected prior art for obtaining the mobile required instruction of driving toy and video processing, is widely applied in electronic game.Than It such as, can be by piece image video, obtaining toy identification icon current field and the data of row, the field with anchor window It is compared with capable data (these data of anchor window are fixed), to identify the relative position of the two, and with this Judgement obtains the telecommands such as driving toy mobile required advance, retrogressing, left-hand rotation, right-hand rotation, up and down.For example, in Fig. 6 Scene image in, anchor window 6 toy identification icon 7 upper left side, then at this moment telecommand be advance plus turn left To.

Certainly, this telecommand is not fixed, in dynamic adjustment, this is because the program of control circuit is Circular flow, in each operational process, procedure identification goes out toy identification icon and anchor window in scene image information Relative position, obtain the instruction for driving toy mobile to anchor window under current state, and by launching after coding；It plays Tool receives the signal, obtains telecommand by decoding, after amplification driving, is executed instruction by executing agency, driving is played Tool is moved or is turned to adjustment, mobile to target position (namely position that anchor window is aligned in image).Next time In operational process, program again identifies that out the relative position of toy identification icon and anchor window in scene image information, again Obtain the driving toy new telecommand required to anchor window movement, if this instruction was instructed with last time, for Economize on electricity, can not emit the instruction, toy is still continued to move to by instruction before；And if since toy is executing upper one Position varies widely after instruction, causes new telecommand to keep up with instruction difference, then control circuit carries out new command Coding and transmitting readjust moving direction according to new telecommand after toy reception, continue more accurately to target position It is mobile.

Clearly as camera shooting, image procossing, program operation, coding and decoding, transmitting and reception and executing agency pair The execution of instruction, requires the regular hour, so movement adjustment of the toy in moving process has the lag of certain time, This will lead to toy in, in constantly progress direction adjustment song not direct and round and smooth to the mobile approach in target position The traveling of complications folding.Toy as shown in Figure 9 is moved to the mobile approach 8 of target position.Its tortuous degree and above-mentioned each ring The execution time of section is related, chooses the faster processor of operating rate, improves program operation speed, can make mobile approach more It is round and smooth.In addition, allow toy when executing steering order into target position moving process if be further improved, not only letter The left-hand rotation of list is turned right, but the relative position of icon and anchor window is identified according to toy, is produced and is turned with steering angle To instruction, drive toy more accurately mobile to target position, then moving approach also being capable of rounder and more smooth nature.

And works as toy and be moved to target position, namely the identification icon of toy is moved on anchor window in the picture, (this Can be the case where including or partly overlapping), in program namely in image information toy identification icon position data with , there is the situation as all or part in the position data of anchor window, at this moment illustrates that toy is moved on target position, Then control circuit issues the telecommand for allowing toy to stop, and toy is made to stop movement.Program continues to run later, continues identification and plays The variation of the relative position of tool identification icon and anchor window, namely the mobile variation of the next target position of operator is waited, It is further continued for executing the identification, judgement and execution work of a new round.

Certainly, during toy is mobile to target position, operator can dollying head at any time, by anchor window Otherwise (i.e. new target position) is re-moved, such as Fig. 8, in the scene image 5 that remote controller displays screen is shown, positioning Window 6 is re-moved to other place.At this moment program will identify the opposite position of icon and new anchor window according to toy It sets, issues new telecommand, driving toy is mobile to new target position, realizes continuous remote control in real time.

To work such as the coding of telecommand, decoding, transmitting, receptions, belong to the technology of existing toy remote control.Wherein emit And reception, radio frequency method or infrared mode can be used, alternatively, it is shorter if it is remote control distance indoors, it can also adopt With modes such as bluetooth, WIFI.And to the effect that command signal is encoded, first is that anti-interference ability is improved, second is that making this distant Control device can be identified and be matched with the toy of remote-control target, to realize the remote control to the toy.

Visual remote control of the invention when in use, is held in hand by operator, and camera is taken the photograph towards the toy being remotely controlled Taking includes remote controler in the display screen of the scene image of toy and the person that is shown in oriented manipulation, in the mobile hand of operator, is changed Become the scene image that camera is absorbed, makes anchor window (eye position relative to operator) alignment function in display screen Person wishes the target position that toy moves to reach in next step, and control circuit will pass through procedure identification, judgement and issue driving toy Mobile telecommand is carried out, and is emitted after coding by transmit circuit.And the toy being remotely controlled, it is distant to receive this Signal is controlled, decoding circuit is sent to and is decoded, obtain telecommand, after amplification, executing agency is output to and executes accordingly Movement, driving toy is mobile to target position, realizes that operator sees to where toy just moves remote control to there.

Video frequency remote-control method disclosed by the invention and visual remote control, identify toy by video image, are sentenced Disconnected and control, when to toy remote control, operator no longer needs to control each step movement of toy execution with manual operation, but will Sight (the small anchor window in display screen) see where, toy just automatically moves thereunto, so remote control is extremely simple and have Interest is particularly suitable for the small children of age and uses.This remote control method controls object for appreciation using remote control actions one by one with existing " movement remote-control " of tool movement is entirely different, can be described as being " target remote control ".

It is used as a kind of extension, remote control technology of the invention can be produced with the mobile phone with video camera function or other numbers Product combine, i.e., are remotely controlled using mobile phone or other digital products to toy, become video frequency remote-control mobile phone.Required change Are as follows: 1, the software of remote control method of the invention will be completed, it is mounted in mobile phone and is run, it is original hard using software and mobile phone Part and software resource refer to realize including video processing module, toy icon-based programming module, position signal identification module, remote control The function of generation module and telecommand coding module is enabled, and the communication for being output to mobile phone by the telecommand of coding is connect On mouth；(data-interface of mobile phone, blue tooth interface, even audio output interface can be used in communication interface), 2, increase by one it is external Emitter, emitter includes transmit circuit, for receiving the telecommand of mobile communication interface output, and passes through hair Transmit-receive radio road is emitted.And its working principle with remote control method is with video frequency remote-control method above-mentioned.Certainly, of the invention The effect of mobile phone remote limited by mobile video function, current mobile video is mostly functional fortunately, mostly also With zoom function, requirement of the invention can satisfy.

The technology of above-mentioned video frequency remote-control mobile phone, with the difference of the existing prior art being remotely controlled using mobile phone to toy Be not: existing mobile phone remote technology is that operator looks at toy on one side, on one side constantly by manual operation mobile phone key, or Swinging mobile phone manually makes body-sensing sensor generate inductive signal, generates telecommand constantly to drive toy to carry out each movement Movement.Operator needs to be intended to according to remote control and toy position constantly carries out remote control operation step by step, is that " movement is distant for one kind Control ", so it is more troublesome to operate.And the present invention is that operator holds mobile phone, includes using the camera intake of mobile phone The scene image of toy, and will be in anchor window (sightline window for being equivalent to operator) the alignment scene image on mobile phone screen Wish the target position that toy moves to reach, toy just receives Remote Control Automatic mobile to target position, and the present invention is according to operator Sight control the movement of toy, be a kind of video " target remote control ", the simpler convenience that operates and interesting.

As a kind of unique and interesting design, visual remote control of the invention can be set using the external form of Google glass Meter, and be combined with the technology of the projection-type display screen of Google glass, it is by the display screen of remote controler of the present invention using paddy The miniature projection-type display screen of glasses being mounted on spectacle-frame is sung, other still use technology of the invention, are made into for toy The remote control eyeglasses of remote control.Structural schematic diagram such as Figure 10 of video frequency remote-control glasses of the invention, including spectacle-frame 11 and leg of spectacles 13, Eyeglass 12 is generally fitted on spectacle-frame 11.It further include having camera, display screen, control circuit and transmit circuit；Wherein image First 14 and display screen 15 be mounted on spectacle-frame 11, control circuit is mounted on the leg of spectacles 13 of glasses；Control circuit includes Video processing module, toy icon-based programming module, toy relative position identification module, telecommand generation module and coding mould Block；(content described in working principle and the function remote control for toys as the aforementioned of each module)；The output of control circuit, is connected to Transmit circuit.Emitted by the telecommand by coding that transmit circuit exports control circuit.

Wherein display screen 15 uses the miniature display screen of projection-type used by Google glass, small in size, mountable in eye Before mirror, image is projected to the image for making eyes see amplification to eyes, for details, reference can be made to the relevant technologies of Google glass. Miniature pinhole cameras can be used in camera 14, and (the modular camera head as used by mobile phone) is mounted on two spectacle-frames On intermediate position.The power supply of toy remote control glasses, can be used the rechargeable battery of small size high-energy, and be mounted on leg of spectacles On.Due to the capacity limit by battery when in this way, it is suitable for the remote control operation shorter away from discrete time, if necessary The remote control for a long time with long range is carried out, external connection battery can also be used and power supply line is connected on the circuit of glasses, alternatively, adopting With an external independent remote signal relay, the weaker remote signal of toy remote control glasses transmitting is received, is passed through More powerful remote signal is launched outward after amplification, again to realize that farther toy of adjusting the distance is remotely controlled for a long time.

The working principle of video frequency remote-control glasses is with mentioned-above independent visual remote control, moreover, bringing Benefit be: operator completely dispenses with manually when being remotely controlled operation, and only need to according to remote control be intended to gently rotate head, make to show Scene image in display screen generates movement, and will wish what toy was moved in the anchor window alignment scene image in display screen On target position, just can be remotely controlled driving toy move to reach the position, veritably realize " eyes see to where, toy is just It is mobile thereunto " technical effect, it is extremely convenient to use and interesting.

Invention additionally discloses it is a kind of using light beam to toy carry out the remote position controlled method of remote position controlled, remote position controlled device and Remote-control toy.It belongs to the prior art with the electronic toy of remote position controlled device auxiliary work, referring to fig. 2 and is previously with regard to Fig. 2's The explanation of toy block diagram, is not repeated herein.Figure 11 is the structural schematic diagram (side view) of its remote position controlled device.Remote position controlled Device includes hand handle 16 and main body 17；Battery can be installed inside hand handle 16, control circuit, main body 17 are installed inside main body 17 The front end of toy is provided with luminous tube 18 and camera 19；Luminous tube 18 is for issuing a branch of light beam 20 as positioning Light beam, and positioning light beam is projected on the target position around toy, form a hot spot namely location spot.Optically focused light That high light beam of existing toy laser transmitter projects can be used in beam, alternatively, adding optically focused using common luminous tube Device is formed；Target position that is to say the position that operator wishes that toy moves to reach in next step.

Figure 11 is the circuit block diagram of light beam remote position controlled device working principle.Remote position controlled device includes camera, control electricity Road and transmit circuit further include a luminous tube；Luminous tube is irradiated to object for appreciation for emitting a branch of light beam as positioning light beam On target position around having, location spot is formed；Camera is for absorbing scene image；Control circuit presses signal processing flow Include video processing module, location spot identification module, toy icon-based programming module, position signal identification module, remote control refer to Enable generation module and telecommand coding module；The output of control circuit, is connected to transmit circuit；It will be controlled by transmit circuit The remote signal of circuit output is emitted.

Its video processing module is used to handle the vision signal of camera；Witness marker identification module is used in scene image In signal, location spot is identified；Toy icon-based programming module is used in scene picture signal, identifies toy identification figure Mark, (the identification icon including having front and back tropism)；Position signal identification module is for obtaining location spot and toy identification Position data in each comfortable picture signal of icon, and be compared, show that location spot and toy identification icon are believed in image Relative position in number；Telecommand generation module is used for the phase according to location spot and toy identification icon in picture signal To position, show that driving toy is mobile or stops mobile telecommand；Telecommand coding module is used for telecommand Signal is encoded.

Its remote position controlled method, that is to say the work step of remote position controlled device, comprising: (1), by operator use remote controler A branch of light beam is issued as positioning light beam, and is projected on the target position around toy, a hot spot, Ye Jiding are formed Position hot spot；(2), by camera towards location spot and toy, intake includes the field scene of location spot and toy, by Video processing module processing is scene image signal；(angle for the positioning light beam that camera and luminous tube issue is consistent and solid Fixed, so the camera angle of camera is always followed by the projecting direction of positioning light beam)；(3), control circuit is in scene image In signal, location spot is identified；(hot spot of the specific color of such a high brightness is identified in the picture, is to be easier 's.If not identifying location spot in scene image signal, illustrate that remote controler does not issue positioning light beam, operator does not have Remote control is intended to, then control circuit does not issue any telecommand)；(4), control circuit identifies toy in scene picture signal Identification icon；(recognition methods is as mentioned-above video frequency remote-control method.If do not identified in scene image signal The identification icon of toy out, illustrates that toy is not fallen in the scene domain of present viewing field, then control circuit sending allows toy to stop The telecommand that stop is made)；(5), control circuit obtains the position in location spot and each comfortable picture signal of toy identification icon Data, and be compared, obtain the relative position of location spot and toy identification icon in picture signal；(6), control circuit According to the relative position of location spot and toy identification icon in picture signal, show that driving toy is moved to location spot Telecommand；(such as: the instruction such as advance, retrogressing, left-hand rotation, right-hand rotation, up and down)；Wherein in scene picture signal, toy When identification icon touches location spot, (when i.e. toy identification icon is Chong Die with location spot appearance), control circuit sending makes Toy stops mobile telecommand；(7), control circuit is sent by the signal of telecommand after coding by transmit circuit It goes out；(8) after, the reception circuit of toy receives signal, telecommand is obtained by decoding, is passed through after being driven using amplification Executing agency executes telecommand；For example driving toy is mobile to target position or stops movement；Above-mentioned steps circulation executes.

Remote position controlled device and remote position controlled method, it is basic with the visual remote control and video frequency remote-control method of the foregoing description Working principle with method be it is similar, narration is not repeated herein.The two the difference is that: 1, video frequency remote-control is on a display screen An anchor window is generated, alignment target position is come, and control toy to the mesh in the sight place that simulated operator remote control is intended to Cursor position is mobile, and remote position controlled has luminous tube, and can issue a branch of positioning light beam comes alignment target position, and in target position It sets and generates a location spot to substitute anchor window, so no longer needing to simulate an anchor window, (position light beam in other words It is overlapping with anchor window)；2, due to will form a location spot, location spot when positioning light beam is projected to target position It is visible, no longer needs to observe by display screen, omit display screen so can save, only to picture signal inside control circuit It is compared and treated；3, correspondingly, video frequency remote-control method is the position by the position data of toy identification icon with anchor window It sets data and carries out position comparison, to obtain telecommand, and positioning remote control method is that toy is identified icon and location spot Position data is compared, to obtain telecommand, (its certain principle is the same).

Remote position controlled method and remote position controlled device of the invention is in use, operator's hand-held remote controller, positioning light beam is thrown It is mapped to and wishes to form a small light spot, control circuit just automatically generates remote control on position namely target position that toy is moved to Instruct and drive toy mobile to target position, realize " by light beam shine where, toy just it is mobile thereunto " effect, remote control It operates extremely convenient interesting.It is compared with " technology being remotely controlled using mobile beam to electronic toy " applied before applicant Compared with, may not need and remove light beam to capture and be irradiated to the light-sensitive element above toy, (when toy when moving do so be also have Difficulty), light beam, which is brandished, without each removes the shift action of irradiation and the execution of driving toy step by step, but only need to be by light Beam is incident upon on the target position that operator wishes that toy reaches, and toy is just mobile from the trend position, so remote control operation is more Add conveniently.

The remote-controlled electric toy of the technological maheup of remote control method according to the present invention and remote controler, including remote controler and electronic Toy, electronic toy include to receive circuit, decoding circuit, driving circuit and executing agency, it is characterised in that: the remote control Device is using present invention visual remote control above-mentioned, or uses present invention video frequency remote-control glasses above-mentioned；Or using the present invention Remote position controlled device above-mentioned.For example, the visual remote control that the remote controler is above-mentioned using the present invention.Then remote controler includes hair Transmit-receive radio road further includes having camera, display screen and control circuit；Camera includes by the scene of remote-control toy for absorbing Image；Display screen is for showing video image；Control circuit includes video processing module, toy figure by signal processing flow Mark identification module, position signal identification module, telecommand generation module and telecommand coding module；Control circuit it is defeated It is connected to transmit circuit out.The telecommand after coding is emitted by transmit circuit.And it is aforementioned to remote control for toys Various improvement and optimisation technique, be also adapted to the application of remote-controlled electric toy of the invention.

And electronic toy can be divided into flight type toy and traveling type toy, executing agency is also different, wherein travelling The executing agency of type toy includes the traveling executing agency for driving toy to move forward and backward, and for driving toy to carry out The steering executing agency of left and right turn；And the executing agency of flight type toy include at least have for drive aircraft rise or under The lifting executing agency of drop.So as a kind of concrete application of the invention, a kind of remote-controlled electric toy travelling class, including Remote controler and electronic toy；Electronic toy includes to receive circuit, decoding circuit and amplifying circuit, further includes having to play for driving Has the traveling executing agency to move forward and backward, and for driving toy to carry out the steering executing agency of left and right turn；Its feature exists In: using the side of video frequency remote-control method above-mentioned or remote position controlled method or remotely controlling toy by mobile phone between remote controler and toy Method.And the various remote controlers that remote controler is above-mentioned using the present invention, including visual remote control, video frequency remote-control mobile phone, video frequency remote-control eye One of mirror, light beam remote position controlled device.

As another concrete application of the invention, a kind of remote control toy aircraft, including remote controler and toy aircraft, Toy aircraft includes to receive circuit, decoding circuit and amplifying circuit, further includes having for driving aircraft to rise or fall Lifting executing agency, and remote controler is using the above-mentioned various remote controlers of the present invention, including visual remote control, video frequency remote-control hand One of machine, video frequency remote-control glasses.And remote control of the remote controler to toy aircraft, according to the present invention disclosed remote control method It works.According to technology disclosed in this invention, remote control method of the invention and remote controler are suitable for remote control toy aircraft The remote control for carrying out raising and lowering movement, is readily applicable to the remote control moved left and right, and due to can not be in depth angle It is positioned, so the remote control that can not be moved forward and backward, be suitable only for flight ball and simply go straight up to class aircraft etc. Remote control, this is limitation of the invention.Moreover, light beam remote position controlled device therein and method to be formed due to that can not project in the sky Location spot, so can not also be suitble to the remote control to aircraft.

Claims (8)

1. a kind of video frequency remote-control method for toy remote control, comprising: field (1), by camera towards toy intake scene Scene image signal is output on a display screen after signal processing and shows by scape；(2), in the image of display screen On, setting one corresponds to the anchor window of operator's eye position；In picture signal, setting anchor window exists control circuit Position data in image；(3), operator is intended to according to remote control, dollying head, produces the scene image for showing screen display Raw movement, and anchor window alignment function person on display screen is made to wish that toy is moved on target position；(4), control circuit is on the scene In scape picture signal, the identification icon of toy is identified；If in scene image signal, not identifying the identification figure of toy Mark, then control circuit issues the telecommand for allowing toy stopping to act；(5), control circuit obtains toy identification icon and believes in image Position data in number, and be compared with the position data of anchor window, obtain the relative position of the two, and drive is obtained with this Movable toy is moved to the telecommand of anchor window；Wherein in scene picture signal, the identification icon of toy touches positioning When window, (when that is to say that toy identification icon is Chong Die with the appearance of the position data of anchor window), control circuit sending makes toy Stop mobile telecommand；(6), the signal of telecommand is sent after coding by transmit circuit；(7), toy Reception circuit receive signal after, by decoding obtain telecommand, using amplification driving after by executing agency execution Telecommand.The anchor window can be the wicket using the colored lines rectangle constituted or circle or other shapes； Either a colored hot spot or colored points；The position of anchor window in the picture is fixed.The control circuit will play Tool is identified as the toy identification icon with front and back tropism.The identification icon for toy being identified as there is front and back tropism Method be: the directive identification icon of tool is identified according to the picture signal of toy itself；Or toy in appearance It is provided with the marker with direction characteristic, the directionality identification icon of toy is identified by the marker；On toy It is provided with luminous tube, the luminous pattern with direction characteristic is made of the light of luminous tube, control circuit passes through this hair Light figure come identify toy directionality identify icon.

2. a kind of visual remote control for toy remote control, includes transmit circuit, it is characterised in that: remote controler further includes taking the photograph As head, display screen and control circuit；Camera includes by the scene image of remote-control toy image for absorbing；Display screen is used In display scene images；Control circuit includes video processing module, toy icon-based programming module, position by signal processing flow Signal identification module, telecommand generation module and telecommand coding module, in which: video processing module is taken the photograph for handling It as the vision signal of head, is output to display screen and is shown, and generate the anchor window of a fixed position in the picture, simultaneously Obtain the position data of anchor window in the picture；Toy icon-based programming module, for identifying object for appreciation in scene picture signal The identification icon of tool；Position signal identification module identifies icon in scene picture signal, extracting anchor window and toy Position data, and the position data of the two is compared, obtains the relative position of toy identification icon and anchor window；It is distant Command generation module is controlled, for the relative position according to toy identification icon and anchor window in picture signal, driving is generated and plays Telecommand tool movement or stopped；Telecommand coding module, for being encoded to telecommand；Control circuit it is defeated Out, it is connected to transmit circuit.Toy image can be identified as having front and back tropism by the toy icon-based programming module Toy identifies icon.The identification figure calibration method that toy is identified as having front and back tropism is: according to toy itself Picture signal has directive identification icon to identify；Or it is provided with the mark with direction characteristic in appearance in toy Object identifies the directionality identification icon of toy by the marker；Luminous tube is provided on toy, by the lamp of luminous tube Light constitutes the luminous pattern with direction characteristic, and control circuit identifies the directionality of toy by this luminous pattern Identify icon.

3. a kind of method using remotely controlling toy by mobile phone, mobile phone includes camera, display screen and center processing circuit；It is special Sign is: (1), will realize the remote control software of toy remote control, is mounted in the reservoir of mobile phone, by the center processing circuit of mobile phone It is run, realizes to include video processing module, toy icon-based programming module, position signal identification module, telecommand generation The function of module and telecommand coding module；(2), will be output in the communication interface of mobile phone by the telecommand of coding； (3), an external emitter is increased, emitter includes communication interface and transmit circuit, and emitter is for receiving hand The telecommand of machine communication interface output, and emitted by transmit circuit.The video processing module, for handling camera shooting The vision signal of head, is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, takes simultaneously Obtain the position data of anchor window in the picture；The toy icon-based programming module, for identifying in scene picture signal The identification icon of toy；The position signal identification module is known in scene picture signal, extracting anchor window and toy The position data of other icon, and the position data of the two is compared obtains the opposite of toy identification icon and anchor window Position；The telecommand generation module, for identifying the relative position of icon and anchor window according to toy in picture signal, Generate the telecommand that driving toy is mobile or stops；The telecommand coding module, for being encoded to telecommand. Toy image can be identified as the toy identification icon with front and back tropism by the toy icon-based programming module.It is described The implementation method of remote control software, using method of any of claims 1 or 2.

4. a kind of video frequency remote-control glasses, including spectacle-frame and leg of spectacles, it is characterised in that: further include having camera, display screen, control Circuit and transmit circuit processed；Wherein camera and display screen are mounted on spectacle-frame, and control circuit is mounted on leg of spectacles；Control Circuit includes video processing module, toy icon-based programming module, toy relative position identification module, telecommand generation mould Block and coding module；The output of control circuit, is connected to transmit circuit.The video processing module, for handling camera Vision signal is output to display screen and is shown, and generates the anchor window of a fixed position in the picture, while obtaining and determining The position data of position window in the picture；The toy icon-based programming module, for identifying toy in scene picture signal Identification icon；The position signal identification module, in scene picture signal, extracting anchor window and toy identification figure Target position data, and the position data of the two is compared, obtain the relative position of toy identification icon and anchor window； The telecommand generation module is generated for the relative position according to toy identification icon and anchor window in picture signal Drive the telecommand that toy is mobile or stops；The telecommand coding module, for being encoded to telecommand.It is described Display screen uses projection-type display screen.Toy image, can be identified as with front and back by the toy icon-based programming module The toy of tropism identifies icon.

5. a kind of remote position controlled device for carrying out remote position controlled to toy using light beam, including transmit circuit, it is characterised in that: also wrap Camera, control circuit and luminous tube are included；Luminous tube is irradiated to for emitting a branch of light beam as positioning light beam On target position；Camera be used for absorb include toy image scene image；Control circuit includes by signal processing flow There are video processing module, witness marker identification module, toy icon-based programming module, position signal identification module, telecommand to produce Raw module and telecommand coding module；The output of control circuit, is connected to transmit circuit.The video processing module, is used for Handle the vision signal of camera；The witness marker identification module, for identifying positioning light in scene picture signal Spot；The toy icon-based programming module, for identifying the identification icon of toy in scene picture signal；The position letter Number identification module for obtaining the position data in location spot and each comfortable picture signal of toy identification icon, and is compared Compared with obtaining relative position in picture signal of location spot and toy identification icon；The telecommand generation module, is used for According to the relative position of location spot and toy identification icon in picture signal, the remote control that driving toy is mobile or stops is obtained Instruction；Telecommand coding module, for encoding the signal of telecommand.The toy icon-based programming module, energy It is enough to be identified as having the toy of front and back tropism to identify icon toy image.

6. a kind of remote position controlled method for carrying out remote position controlled to toy using light beam, comprising: (1), remote controler issue a branch of optically focused Light beam projects on the target position around toy as positioning light beam, forms a hot spot namely location spot；(2), pass through For camera towards hot spot and toy, intake includes the field scene of hot spot and toy, and being handled by video processing module is scene Picture signal；(3), control circuit identifies location spot in scene picture signal；If do not known in scene image signal Not Chu location spot, then control circuit does not issue any telecommand；(4), control circuit identifies in scene picture signal The identification icon of toy；If in scene image signal, not identifying the identification icon of toy, then control circuit sending allows object for appreciation Has the telecommand of stopping movement；(5), control circuit obtains in location spot and each comfortable picture signal of toy identification icon Position data, and be compared, obtain the relative position of location spot and toy identification icon in picture signal；(6), control Relative position of the circuit according to location spot and toy identification icon in picture signal, show that driving toy is moved to positioning light The telecommand of spot；Wherein in scene picture signal, when toy identification icon touches location spot, (i.e. toy identification figure When marking Chong Die with location spot appearance), control circuit, which issues, makes toy stop mobile telecommand；(7), control circuit will be distant The signal of instruction is controlled after coding, is sent by transmit circuit；(8) after, the reception circuit of toy receives signal, warp It crosses decoding and obtains telecommand, telecommand is executed by executing agency using after amplification driving.The control circuit will play Tool is identified as the toy identification icon with front and back tropism.It is described to be identified as having the toy of front and back tropism to identify toy Figure calibration method is: the directive identification icon of tool is identified according to the picture signal of toy itself；Or outside toy It is provided with the marker with direction characteristic in sight, the directionality identification icon of toy is identified by the marker；It is playing It is provided with luminous tube on tool, the luminous pattern with direction characteristic is made of the light of luminous tube, control circuit passes through this One luminous pattern come identify toy directionality identify icon.

7. a kind of electronic toy using video frequency remote-control, including electronic toy and remote controler, electronic toy include receive circuit, Decoding circuit, driving circuit and executing agency, it is characterised in that: between the electronic toy and remote controler, using claim 1, remote control method described in one of 3,6；Or the remote controler uses visual remote control as claimed in claim 2；Or it adopts With video frequency remote-control glasses as claimed in claim 4；Or using remote position controlled device described in claim 5.

8. the electronic toy according to claim 7 using video frequency remote-control, it is characterised in that: the electronic toy includes Flight type toy and traveling type toy；Wherein the executing agency of flight type toy includes the lifting for driving aircraft to go up and down Executing agency；The executing agency of traveling type toy includes the traveling executing agency for driving toy to move forward and backward, and is used In the steering executing agency that driving toy turns left and turns right.