CN112774216B - Intelligent toy car and control method thereof - Google Patents
Intelligent toy car and control method thereof Download PDFInfo
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- CN112774216B CN112774216B CN202110064579.8A CN202110064579A CN112774216B CN 112774216 B CN112774216 B CN 112774216B CN 202110064579 A CN202110064579 A CN 202110064579A CN 112774216 B CN112774216 B CN 112774216B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
- A63H17/395—Steering-mechanisms for toy vehicles steered by program
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
The invention discloses an intelligent toy car and a control method thereof, wherein the intelligent toy car comprises a toy car body, wherein a light intensity detection module, a line inspection module, a distance measurement module and a control module are arranged in the toy car body; the light intensity detection module detects the light intensity information of the current running environment and outputs the light intensity information to the control module; the line inspection module carries out color recognition on a preset reference line and then outputs color recognition information to the control module; detecting obstacle distance information in the current running environment by the ranging module and outputting the obstacle distance information to the control module; and the control module controls the current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information. According to the embodiment of the invention, the flexibly combined driving route control is realized through comprehensively acquired light intensity information, preset reference line information and obstacle information, complex road surface scenes can be dealt with, and the intelligent degree and the interestingness of the toy car are improved.
Description
Technical Field
The invention relates to the field of toy control technologies, in particular to an intelligent toy car and a control method thereof.
Background
At present, various toy vehicles are endlessly layered, the existing toy vehicles generally move in a specific area and on a fixed track, or the moving direction is adjusted after the existing toy vehicles touch an obstacle in the moving process, and the existing toy vehicles can only deal with a single driving scene and cannot realize intelligent driving control under a complex road surface scene.
Accordingly, the prior art is still in need of improvement and development.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide an intelligent toy car and a control method thereof, which aims to solve the problem that the toy car in the prior art cannot cope with complex road surface scenes.
The technical scheme of the invention is as follows:
an intelligent toy car comprises a toy car body, wherein a light intensity detection module, a line inspection module, a distance measurement module and a control module are arranged in the toy car body; the light intensity detection module detects the light intensity information of the current running environment and outputs the light intensity information to the control module; the line inspection module carries out color recognition on a preset reference line and then outputs color recognition information to the control module; detecting obstacle distance information in the current running environment by the ranging module and outputting the obstacle distance information to the control module; and the control module controls the current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information.
In the intelligent toy car, the toy car body comprises a plurality of wheels, an integrally formed upper shell and an integrally formed lower shell which is clamped with the upper shell, wherein a plurality of grooves are formed in the upper shell, a corresponding number of buckles are arranged at corresponding positions of the lower shell, and the buckles are buckled with the grooves in a one-to-one correspondence manner; the bottom of the lower shell is provided with a plurality of through holes, and the wheels correspondingly penetrate through the through holes and then are exposed out of the lower shell, wherein the exposed area of each wheel is smaller than the preset area.
In the intelligent toy vehicle, the control module comprises a light source tracking unit, a line inspection judging unit, an obstacle judging unit and a control unit; the light source tracking unit recognizes the direction of a preset guiding light source in the current running environment according to the light intensity information and outputs the direction to the control unit; judging whether the current toy car runs according to a preset reference line or not by the line inspection judging unit according to the color identification information, and outputting a first judging result to the control unit; judging whether an obstacle exists in the preset distance around the current toy car or not by the obstacle judging unit according to the obstacle distance information, and outputting a second judging result to the control unit; and the control unit controls the current driving route of the toy car according to the direction of the preset guiding light source and/or the first judging result and/or the second judging result.
In the intelligent toy vehicle, the light source tracking unit is specifically configured to obtain current ambient light intensity according to the light intensity information, and identify a direction of maximum light intensity after correcting the current ambient light intensity.
In the intelligent toy vehicle, the line inspection judging unit is specifically configured to judge whether a current preset reference line is located at a center axis of the toy vehicle according to the color identification information and output a first judging result to the control unit.
In the intelligent toy vehicle, the control unit is specifically used for controlling the toy vehicle to run along a preset reference line and/or towards a preset guiding light source and/or furthest away from an obstacle.
The intelligent toy car further comprises a sound collection module, wherein the sound collection module collects audio information and outputs the audio information to the control module.
In the intelligent toy vehicle, the control module is further used for acquiring a target speed regulation decibel after the audio information is identified and controlling the running speed of the current toy vehicle according to the target speed regulation decibel.
In the intelligent toy vehicle, the light intensity detection module comprises at least one photosensitive sensor; the line inspection module comprises at least one color sensor; the ranging module includes at least one ultrasonic sensor.
The invention also provides a control method of the intelligent toy vehicle, which comprises the following steps:
detecting light intensity information of the current running environment;
color identification is carried out on a preset reference line, and then color identification information is output;
detecting obstacle distance information in a current driving environment;
and controlling the current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information.
The beneficial effects are that: compared with the prior art, the embodiment of the invention realizes flexibly combined driving route control through comprehensively acquired light intensity information, preset reference line information and obstacle information, can cope with complex road surface scenes, and improves the intelligent degree and the interestingness of the toy vehicle.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a block diagram of a preferred embodiment of an intelligent toy vehicle in accordance with the present invention;
FIG. 2 is a schematic diagram of a preferred embodiment of an intelligent toy vehicle according to the present invention;
FIG. 3 is a block diagram of a control module in a preferred embodiment of the intelligent toy vehicle of the present invention;
fig. 4 is a flowchart of a control method of an intelligent toy vehicle according to a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in further detail below in order to make the objects, technical solutions and effects of the present invention more clear and distinct. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. Embodiments of the present invention are described below with reference to the accompanying drawings.
Referring to fig. 1, the intelligent toy vehicle provided by the invention comprises a toy vehicle body, wherein a light intensity detection module 10, a line inspection module 20, a ranging module 30 and a control module 40 are arranged in the toy vehicle body, wherein the light intensity detection module 10, the line inspection module 20 and the ranging module 30 are all connected with the control module 40, and the light intensity detection module 10 is used for detecting light intensity information of the current running environment and outputting the light intensity information to the control module 40; the line inspection module 20 is configured to perform color recognition on a preset reference line and then output color recognition information to the control module 40; the ranging module 30 is configured to detect obstacle distance information in the current driving environment and output the obstacle distance information to the control module 40; the control module 40 is configured to control a current driving route of the toy vehicle according to the light intensity information, and/or the color identification information, and/or the obstacle distance information, that is, in this embodiment, by detecting the light intensity information, the color identification information of the preset reference line, and the obstacle distance information in the driving environment respectively, when controlling the driving route of the toy vehicle, one or more of the detection information that can be comprehensively obtained can be flexibly combined to control the driving route of the toy vehicle, for example, the driving route is controlled according to the light intensity information alone, or simultaneously according to the color identification information and the light intensity information, and the like, so that the intelligent automatic driving route control can still be performed in a complex road scene, thereby improving the intelligent degree and the interest of the toy vehicle.
Preferably, referring to fig. 2, the toy car is preferably an integrated structure, and no additional tools are used, so that small parts of the toy car are difficult for children to obtain, and the child is effectively prevented from eating by mistake, and the specific toy car body comprises a plurality of wheels (not shown in the figure), an integrally formed upper shell, and an integrally formed lower shell which is engaged with the upper shell, wherein the upper shell is provided with a plurality of grooves, corresponding positions of the lower shell are provided with corresponding numbers of buckles, the buckles are buckled with the grooves one by one, and as shown in fig. 2, the upper shell of the toy car is provided with 4 retention grooves, namely a groove 1, a groove 2, a groove 3 and a groove 4; the lower shell corresponds to be equipped with 4 buckles on the position, buckle 5 promptly, buckle 6, buckle 7 lock and buckle 8, through buckle and the inseparable lock of recess that corresponds the position, specifically be recess 1 and buckle 5 lock, recess 2 and buckle 6 lock, recess 3 and buckle 7 lock, recess 4 and buckle 8 lock, realize upper and lower casing stable connection and keep in place, further for preventing unexpected injury children, all apex angles and edges in the surface of upper and lower casing of toy car are all round and smooth processing.
And, the bottom of the lower shell is further provided with a plurality of through holes (not shown in the figure), the plurality of wheels correspondingly pass through the through holes and are exposed outside the lower shell, wherein the exposed area of each wheel is smaller than a preset area, the preset area can be set as half of the area of each wheel, namely, the exposed area of each wheel is smaller than 1/2, and of course, the preset area can also be flexibly set to other values according to practical application requirements, and the invention is not limited to the above. It can be understood that the toy car body is also internally provided with a transmission component which is connected with the wheels and is used for driving the wheels to rotate, and the transmission component can adopt the existing power transmission mode and is not described herein. In this embodiment, each functional module, drive assembly and some wheels are lived to the complete parcel of toy car body, only have the area of predetermineeing of each wheel to expose in toy car body bottom, be different from traditional wheel to expose in the toy car of side completely for children can't bare-handedly obtain spare part wherein when playing, improve the security of toy car.
Specifically, the light intensity detection module 10 includes at least one photosensitive sensor, and preferably, the photosensitive sensors are respectively disposed on the left and right sides of the toy car body to collect illumination intensity data and output the data to the control module 40, so as to obtain accurate light intensity information; the line inspection module 20 includes at least one color sensor, preferably, the color sensor is disposed at a central axis of the bottom of the toy car body, corresponding color sensors may be further disposed at other positions of the bottom, color identification information of different positions may be obtained through a plurality of color sensors and then output to the control module 40, so that abundant car body position information may be provided for driving route control; the ranging module 30 includes at least one ultrasonic sensor, preferably, the ultrasonic sensors are respectively disposed at the left and right sides of the toy car body, and the scanning and ranging of the obstacle are realized by transmitting and receiving ultrasonic waves, so as to ensure the smooth running of the toy car.
Further, as shown in fig. 3, the control module 40 includes a light source tracking unit 401, a line patrol judging unit 402, an obstacle judging unit 403, and a control unit 404, where the light source tracking unit 401, the line patrol judging unit 402, and the obstacle judging unit 403 are all connected to the control unit 404, and the light source tracking unit 401 is configured to identify a direction of a preset guiding light source in a current driving environment according to the light intensity information, and then output the direction to the control unit 404; the line inspection judging unit 402 is configured to judge whether the current toy vehicle travels according to a preset reference line according to the color identification information, and then output a first judgment result; the obstacle judging unit 403 is configured to judge whether an obstacle exists in a preset distance around the current toy vehicle according to the obstacle distance information, and then output a second judging result to the control unit 404; the control unit 404 controls the current driving route of the toy vehicle according to the direction of the preset guiding light source, and/or the first judgment result, and/or the second judgment result.
In this embodiment, after various environmental information is collected, the corresponding processing unit in the control module 40 performs information processing, and then further performs automatic control on the driving route, where the light source tracking unit 401 recognizes the light intensity information to obtain the direction of the preset guiding light source in the current driving environment, that is, sets a preset guiding light source with a preset power value (for example, 200W, etc.) in the driving process of the toy vehicle, and uses the preset guiding light source as the target driving direction to automatically guide the driving direction of the toy vehicle; the line inspection judging unit 402 judges the relative position between the current toy car and the preset reference line by receiving the color identification information output by the color sensor at one or more positions, so as to judge whether the current toy car runs according to the preset reference line, namely, the preset reference line is set as a direction reference of the toy car when the toy car runs, and the relative position between the vehicle body and the preset reference line is judged by recognition so as to realize stable running when the toy car runs; the obstacle judging unit 403 judges whether an obstacle exists around the current toy car and whether the distance of the obstacle is smaller than a preset distance according to the received obstacle distance information, so that the toy car is prevented from being blocked by the obstacle when running to influence normal running.
In particular, the control unit 404 is configured to control the toy vehicle to travel along a predetermined reference line and/or in a direction of a predetermined guiding light source and/or in a direction farthest from the obstacle.
In this embodiment, the control unit 404 may control the driving direction of the toy vehicle according to the output signals of the light source tracking unit 401, the line patrol judging unit 402 or the obstacle judging unit 403, so that the toy vehicle may travel in the direction of the preset guiding light source, or in the position of the preset reference line, or in the direction farthest from the obstacle, or may be freely combined in three driving conditions, for example, control the toy vehicle to perform line patrol according to the preset reference line, and if the obstacle is detected in the preset surrounding distance, the toy vehicle may continue to perform line patrol while bypassing the obstacle; or in the process of controlling the toy vehicle to advance according to the preset guiding light source direction, if an obstacle is detected in the preset surrounding distance, the toy vehicle can continue to advance towards the preset guiding light source direction with the maximum light intensity by bypassing the obstacle, and the priority order of three driving conditions can be further set, and the driving direction is controlled from high priority to low priority, namely, the driving condition with better priority is satisfied firstly, so that the driving control of the toy vehicle can be flexibly and intelligently adjusted according to different driving environments, and the interestingness and intelligence of the control of the toy vehicle are improved.
Further, the light source tracking unit 401 is specifically configured to obtain the current ambient light intensity according to the light intensity information, and identify the direction of the maximum light intensity after correcting the current ambient light intensity.
In this embodiment, when light intensity information is collected by the photosensitive sensor and transmitted to the light source tracking unit 401 for processing, in order to avoid the influence of ambient light (such as sunlight, etc.), the position of the preset guiding light source needs to be accurately identified after the ambient light is adjusted, specifically, the ambient light intensity around the toy vehicle is obtained according to the light intensity information, for example, an average value of the light intensities within a preset range (such as 20cm, etc.) around the toy vehicle is used as the current ambient light intensity, then the adjusted light intensity information is obtained according to the current ambient light intensity, for example, the standard ambient light intensity when the factory is calibrated is used as a reference value, at this time, the ambient light coefficient is 1, and the value of the ambient light coefficient is adjusted according to the collected ambient light intensity during the subsequent actual driving control, and the ambient light intensity after adjustment is adjusted by the ambient light coefficient so that the adjusted ambient light intensity is the same as the reference value, thereby realizing the calibration of the ambient light intensity, and accordingly reducing the ambient light intensity data around the toy vehicle to better identify the direction of the maximum light intensity, thereby avoiding that the direction of the preset guiding light source cannot be accurately identified due to the ambient light intensity around the toy vehicle.
Further, the line inspection judging unit 402 is specifically configured to judge whether the current preset reference line is located at the center axis of the toy vehicle according to the color identification information and output a first judgment result to the control unit 404.
In this embodiment, it is preferable to perform color recognition on the path surface by arranging a plurality of illumination LEDs and at least one color sensor located at the bottom center axis of the toy vehicle, so that different movement instructions can be completed by combining different colors, specifically, the line inspection judging unit 402 judges the relative position between the current toy vehicle and the preset reference line according to the received color recognition information, for example, taking one color sensor as an example, and when the color sensor located at the bottom center axis of the toy vehicle recognizes the preset reference line, the vehicle always runs along the preset reference line; taking a plurality of color sensors as an example, at least one color sensor is located at a center shaft, one color sensor is respectively arranged at the left and right sides of the center shaft, when the color sensors at the center shaft do not recognize a preset reference line, the position of the toy car is adjusted according to the recognition results of the color sensors at the two sides, for example, when the toy car deviates to the left of the preset reference line, the color sensors at the center shaft cannot recognize the preset reference line, if the toy car continues to deviate until the color sensor at the right recognizes the preset reference line, the toy car can be known to deviate to the left, and therefore the position of the toy car needs to be adjusted to the right until the color sensors at the center shaft recognize the preset reference line and represent that the toy car returns to a correct path, so that the running of the toy car is smoother. Of course, the preset reference lines with different colors can be set in a more complex scene, and the toy vehicle is controlled to advance along the preset reference lines with different colors on the corresponding road section according to the corresponding control command and the color identification information, so that more complex and intelligent toy vehicle control is realized.
Further, when the distance measuring module 30 receives the distance information of the obstacle, it determines whether the obstacle exists in the preset distance, if so, the control unit 404 controls the toy car to stop moving, and rotates in place for 360 ° to scan surrounding obstacles, and automatically selects the direction in which the obstacle is farthest from the distance to travel.
Further, the intelligent toy car further comprises a sound collection module, wherein the sound collection module is connected with the control module 40 and is used for collecting audio information and outputting the audio information to the control module 40, and the sound collection module preferably adopts double microphones so as to collect the audio information around the toy car as accurately as possible. The voice control of the running state of the toy car can be carried out by collecting the audio information, the control mode is convenient and fast, and the interactivity with the toy car is improved.
Further, the control module 40 is further configured to identify the audio information and obtain a target speed adjustment db therein, and control the running speed of the current toy vehicle according to the magnitude of the target speed adjustment db.
In this embodiment, speed regulation control is implemented by identifying audio information, in order to avoid the influence of environmental noise, after audio information is collected, the control module 40 converts the audio information into voiceprint feature data, and then matches and compares the voiceprint feature data with voice data pre-stored in a database, for example, pre-stored voice data of a corresponding user, and matches and obtains a voice clip of the corresponding user from the collected audio information, and further determines a target speed regulation decibel according to the voice clip obtained by matching, and controls the running speed of the toy vehicle according to the size of the target speed regulation decibel, for example, the higher the decibel is, the faster the higher the speed is, the lower the decibel is, and the corresponding change of the toy vehicle speed along with the change of controlling the audio information is implemented, thereby improving the flexibility and interestingness of toy vehicle control.
Of course, the toy car body can be further internally provided with a wireless communication module such as WiFi or Bluetooth to realize wireless connection with the intelligent terminal, and then the running state of the toy car is controlled through a control instruction output by the intelligent terminal.
According to the embodiment of the product, the intelligent toy car provided by the invention realizes flexibly combined driving route control through comprehensively acquired light intensity information, preset reference line information and obstacle information, can cope with complex road surface scenes, and improves the intelligent degree and the interestingness of the toy car.
Another embodiment of the present invention provides a control method for an intelligent toy vehicle, as shown in fig. 4, including the following steps:
s100, detecting light intensity information of the current running environment;
s200, color identification is carried out on a preset reference line, and then color identification information is output;
s300, detecting obstacle distance information in the current running environment;
s400, controlling the running route of the current toy car according to the light intensity information, the color identification information and/or the obstacle distance information
It should be noted that, a certain sequence of the steps does not necessarily exist between the above steps, and it will be understood by those skilled in the art that, according to the description of the embodiments of the present invention, in different embodiments, each step may have a different execution sequence, that is, may be executed in parallel, may also be executed in an exchange manner, etc., and the specific implementation refers to the corresponding product embodiment and is not repeated herein.
In summary, in the intelligent toy vehicle and the control method thereof disclosed by the invention, the intelligent toy vehicle comprises a toy vehicle body, wherein a light intensity detection module, a line inspection module, a distance measurement module and a control module are arranged in the toy vehicle body; the light intensity detection module detects the light intensity information of the current running environment and outputs the light intensity information to the control module; the line inspection module carries out color recognition on a preset reference line and then outputs color recognition information to the control module; detecting obstacle distance information in the current running environment by the ranging module and outputting the obstacle distance information to the control module; and the control module controls the current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information. According to the embodiment of the invention, the flexibly combined driving route control is realized through comprehensively acquired light intensity information, preset reference line information and obstacle information, complex road surface scenes can be dealt with, and the intelligent degree and the interestingness of the toy car are improved.
The embodiments described above are merely illustrative, wherein elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
From the above description of embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus a general purpose hardware platform, or may be implemented by hardware. Based on such understanding, the foregoing technical solutions may be embodied essentially or in part in a form of a software product, which may exist in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer electronic device (which may be a personal computer, a server, or a network electronic device, etc.) to perform the various embodiments or methods of some parts of the embodiments.
Conditional language such as "capable," "possible," or "may," among others, is generally intended to convey that a particular embodiment can include (but other embodiments do not include) particular features, elements, and/or operations unless specifically stated otherwise or otherwise understood within the context of as used. Thus, such conditional language is also generally intended to imply that features, elements and/or operations are in any way required for one or more embodiments or that one or more embodiments must include logic for deciding, with or without input or prompting, whether these features, elements and/or operations are included or are to be performed in any particular embodiment.
What has been described herein in this specification and the drawings includes examples that can provide a smart toy vehicle and a method of controlling the same. It is, of course, not possible to describe every conceivable combination of components and/or methodologies for purposes of describing the various features of the present disclosure, but it may be appreciated that many further combinations and permutations of the disclosed features are possible. It is therefore evident that various modifications may be made thereto without departing from the scope or spirit of the disclosure. Further, or in the alternative, other embodiments of the disclosure may be apparent from consideration of the specification and drawings, and practice of the disclosure as presented herein. It is intended that the examples set forth in this specification and figures be considered illustrative in all respects as illustrative and not limiting. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (6)
1. An intelligent toy car comprises a toy car body and is characterized in that a light intensity detection module, a line inspection module, a distance measurement module and a control module are arranged in the toy car body; the light intensity detection module detects the light intensity information of the current running environment and outputs the light intensity information to the control module; the line inspection module carries out color recognition on a preset reference line and then outputs color recognition information to the control module; detecting obstacle distance information in the current running environment by the ranging module and outputting the obstacle distance information to the control module; the control module controls the current running route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information;
the toy car body also comprises a sound acquisition module, wherein the sound acquisition module acquires audio information and outputs the audio information to the control module;
the control module is also used for acquiring target speed regulation decibels in the audio information after the audio information is identified, specifically converting the audio information into voiceprint feature data, then carrying out matching comparison with voice data pre-stored in a database, wherein the pre-stored voice data are voice data of different users, matching acquired voice fragments of corresponding users from the acquired audio information, further determining the target speed regulation decibels according to the matched acquired voice fragments so as to avoid the influence of environmental noise, and controlling the running speed of the current toy vehicle according to the size of the target speed regulation decibels;
the control module comprises a light source tracking unit, a line inspection judging unit, an obstacle judging unit and a control unit; the light source tracking unit recognizes the direction of a preset guiding light source in the current running environment according to the light intensity information and outputs the direction to the control unit; judging whether the current toy car runs according to a preset reference line or not by the line inspection judging unit according to the color identification information, and outputting a first judging result to the control unit; judging whether an obstacle exists in the preset distance around the current toy car or not by the obstacle judging unit according to the obstacle distance information, and outputting a second judging result to the control unit; the control unit controls the current running route of the toy car according to the direction of the preset guiding light source, and/or the first judging result and/or the second judging result;
the light source tracking unit is specifically used for acquiring current ambient light intensity according to the light intensity information and identifying the direction of the maximum light intensity after correcting the current ambient light intensity;
the method comprises the steps of obtaining an average value of illumination intensity in a preset range around the toy vehicle according to light intensity information to serve as current ambient light intensity, and then adjusting the value of an ambient light coefficient according to the current ambient light intensity and standard ambient light intensity serving as a reference value, wherein the current ambient light intensity is adjusted through the ambient light coefficient, so that the adjusted ambient light intensity is the same as the reference value.
2. The intelligent toy car of claim 1, wherein the toy car body comprises a plurality of wheels, an integrally formed upper shell and an integrally formed lower shell which is clamped with the upper shell, a plurality of grooves are formed in the upper shell, a corresponding number of buckles are arranged at corresponding positions of the lower shell, and the buckles are buckled with the grooves in a one-to-one correspondence; the bottom of the lower shell is provided with a plurality of through holes, and the wheels correspondingly penetrate through the through holes and then are exposed out of the lower shell, wherein the exposed area of each wheel is smaller than the preset area.
3. The intelligent toy vehicle of claim 1, wherein the line inspection judging unit is specifically configured to judge whether a current preset reference line is located at a central axis of the toy vehicle according to the color identification information and output a first judgment result to the control unit.
4. Intelligent toy vehicle according to claim 1, characterized in that the control unit is specifically adapted to control the toy vehicle to travel in a preset reference line and/or in a direction of a preset guiding light source and/or in a direction furthest from an obstacle.
5. The intelligent toy vehicle of claim 1 or 2, wherein the light intensity detection module includes at least one light sensitive sensor; the line inspection module comprises at least one color sensor; the ranging module includes at least one ultrasonic sensor.
6. A method of controlling an intelligent toy vehicle according to claim 1, comprising the steps of:
detecting light intensity information of the current running environment;
color identification is carried out on a preset reference line, and then color identification information is output;
detecting obstacle distance information in a current driving environment;
controlling the current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information;
the method further comprises the steps of:
collecting audio information;
the audio information is converted into voiceprint feature data, the voiceprint feature data is matched and compared with voice data pre-stored in a database, the pre-stored voice data are voice data of different users, and voice fragments of corresponding users are obtained by matching the collected audio information;
determining a target speed regulation decibel according to the sound fragments obtained by matching so as to avoid the influence of environmental noise;
controlling the running speed of the current toy vehicle according to the target speed regulation decibel;
controlling a current driving route of the toy car according to the light intensity information, the color identification information and/or the obstacle distance information, comprising:
identifying the direction of a preset guiding light source in the current running environment according to the light intensity information;
judging whether the current toy car runs according to a preset reference line or not according to the color identification information, and outputting a first judgment result;
judging whether an obstacle exists in a preset distance around the current toy car according to the obstacle distance information, and outputting a second judgment result;
controlling the current running route of the toy car according to the direction of the preset guiding light source, and/or the first judging result and/or the second judging result;
identifying the direction of a preset guiding light source in the current running environment according to the light intensity information, wherein the method comprises the following steps:
acquiring current ambient light intensity according to the light intensity information;
correcting the current ambient light intensity, and then identifying the direction of the maximum light intensity;
the method comprises the steps of obtaining an average value of illumination intensity in a preset range around the toy vehicle according to light intensity information to serve as current ambient light intensity, and then adjusting the value of an ambient light coefficient according to the current ambient light intensity and standard ambient light intensity serving as a reference value, wherein the current ambient light intensity is adjusted through the ambient light coefficient, so that the adjusted ambient light intensity is the same as the reference value.
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